Friction Compensation of Geared Actuators With High Presliding Stiffness

2014 ◽  
Vol 137 (1) ◽  
Author(s):  
Myo Thant Sin Aung ◽  
Ryo Kikuuwe ◽  
Motoji Yamamoto
Keyword(s):  
Static Friction ◽  
The Other ◽  
New Method ◽  
Friction Compensation ◽  
Dynamic Friction ◽  
Kinetic Friction ◽  
Harmonic Drive ◽  
Rate Dependent ◽  
Friction Models ◽  
Three Components

Most of existing friction compensation techniques are based on friction models that uses the velocity as its input. These methods are difficult to apply to inexpensive encoder-based actuator systems that do not exhibit sufficiently large presliding displacement. This paper presents a new method of friction compensation that can be applied to geared actuators with high presliding stiffness. The compensator consists of three components that compensate: (a) static friction, (b) rate-dependent kinetic friction, and (c) dynamic friction involving presliding viscoelasticity. The first component employs dither-like torque command, and the other two are based on friction models involving precalibrated parameters. The proposed method is validated through experiments employing a harmonic drive transmission. In particular, it is suggested that the dither-like static friction compensation and the viscosity in the presliding model significantly improve the performance of the compensator.

Atomistic Origins of Friction

2019 ◽  
pp. 348-388
Author(s):  
C. Mathew Mate ◽  
Robert W. Carpick
Keyword(s):  
Atomic Structure ◽  
Real Life ◽  
Static Friction ◽  
Electronic Excitations ◽  
Kinetic Friction ◽  
Dynamic Simulations ◽  
Tomlinson Model ◽  
Current State ◽  
Friction Models ◽  
Kontorova Model

This chapter covers the current state of knowledge about how the shear strength (the force needed to slide one surface over another) originates at the atomic level. For adhesive friction, friction originates from the forces needed to move the atoms on one surface over the atomic structure of the opposing surface; the simplest model for adhesive friction is the cobblestone model. The Frenkel–Kontorova model, the Prandtl–Tomlinson model, and molecular dynamic simulations are typically used to show how the atomic structure of the surfaces leads to static friction. One exciting aspect of these friction models is the prediction of superlubricity or negligible friction for incommensurate sliding surfaces, which is now being realized in experiments. Also discussed is why superlubricity is not observed in real-life situations. As atoms and molecules slide over surfaces, kinetic friction originates from phonon and electronic excitations, which are typically studied using the quartz crystal microbalance (QCM).

Coefficients of Friction: Static Versus Dynamic

2020 ◽  
Author(s):  
Jack Youqin Huang
Keyword(s):  
Coefficient Of Friction ◽  
Frictional Force ◽  
Inertial Force ◽  
Static Friction ◽  
Theory And Practice ◽  
Dynamic Friction ◽  
Kinetic Friction ◽  
The Coefficient Of Friction ◽  
Static Versus Dynamic ◽  
New Discovery

Abstract This paper deals with the problem of static and dynamic (or kinetic) friction, namely the coefficients of friction for the two states. The coefficient of static friction is well known, and its theory and practice are commonly accepted by the academia and the industry. The coefficient of kinetic friction, however, has not fully been understood. The popular theory for the kinetic friction is that the coefficient of dynamic friction is smaller than the coefficient of static friction, by comparison of the forces applied in the two states. After studying the characteristics of the coefficient of friction, it is found that the comparison is not appropriate, because the inertial force was excluded. The new discovery in the paper is that coefficients of static friction and dynamic friction are identical. Wheel “locked” in wheel braking is further used to prove the conclusion. The key to cause confusions between the two coefficients of friction is the inertial force. In the measurement of the coefficient of static friction, the inertial force is initiated as soon as the testing object starts to move. Therefore, there are two forces acting against the movement of the object, the frictional force and the inertial force. But in the measurement of the coefficient of kinetic friction, no inertial force is involved because velocity must be kept constant.

Torque Control in Harmonic Drives with Nonlinear Dynamic Friction Compensation

2004 ◽  
Vol 16 (4) ◽  
pp. 388-396 ◽  
Author(s):  
Rached Dhaouadi ◽  
Keyword(s):  
Differential Equation ◽  
Computer Simulation ◽  
Torque Control ◽  
Nonlinear Observer ◽  
Position Tracking ◽  
Friction Compensation ◽  
Dynamic Friction ◽  
Nonlinear Stiffness ◽  
Nonlinear Friction ◽  
Harmonic Drive

This paper proposes a nonlinear observer-based controller designed to compensate for friction in harmonic drives with hysteresis. Hysteresis in a harmonic drive is described by a nonlinear differential equation representing the combination of nonlinear stiffness and nonlinear friction. Nonmeasurable friction is derived using a nonlinear observer to provide asymptotic stability and position tracking. The performance of the proposed system is confirmed by computer simulation.

Friction compensation control of an electropneumatic servovalve by using an evolutionary algorithm

2000 ◽  
Vol 214 (3) ◽  
pp. 173-184 ◽  
Author(s):  
S H Choi ◽  
C O Lee ◽  
H S Cho
Keyword(s):  
Search Algorithm ◽  
Static Friction ◽  
Open Loop ◽  
Friction Model ◽  
Experimental Results ◽  
Friction Compensation ◽  
Stick Slip ◽  
Air Contamination ◽  
Compensation Control ◽  
Friction Models

A poppet-type electropneumatic servovalve developed in this study utilizes a poppet directly operated by a moving-coil actuator in the metering stage and is controlled by a digital controller. This servovalve is insensitive to air contamination and has no problem of air leakage at null, but it has relatively large friction between the O-rings installed in the peripheral grooves of the balance pistons and the valve sleeve. For friction compensation control, a static friction model that enables simulation of the stick-slip phenomena and a dynamic model that captures the friction behaviour such as presliding displacement and varying break-away force are presented. The parameters for the friction models are identified by utilizing an evolution strategy, one of the evolutionary algorithms, which is a probabilistic global search algorithm based on the model of natural evolution. These friction models are then used in designing a non-linear friction compensation controller. It is found in the experiment that the electropneumatic servovalve has almost no hysteresis and that the friction compensation control significantly improves valve performance. The experimental results of the open loop test on poppet positioning agree well with simulation results of the valve model with identified friction parameters. It is also shown that the experimental results of friction compensation control using a static friction model show a small steady state error but those using a dynamic friction model show almost no such error.

scholarly journals XIV. On friction between surfaces moving at low speeds

1877 ◽  
Vol 167 ◽  
pp. 509-528 ◽  
Keyword(s):  
Static Friction ◽  
The Other ◽  
Kinetic Friction ◽  
Relative Movement ◽  
Metallic Surfaces ◽  
Low Speeds ◽  
Academy Of Sciences

The following paper contains an account of an investigation of the Friction between surfaces in motion under circumstances such as do not appear to have been examined before. The general subject of Friction has received the attention of many writers, beginning with Amontons in 1699. In 1799 Coulomb began to investigate it, and in 1781 he communicated to the Academy of Sciences a paper containing the result of his experiments, entitled “Mémoire sur la théorie des machines simples,” which is published in vol. x. of the ‘Savans Étrangers.’ Coulomb pointed out the necessity of distinguishing between the friction which resists the relative movement of surfaces already in motion, or what is now called kinetic friction, and the friction which tends to prevent surfaces at rest from being set in motion, or what is now called static friction. He found that with two dry metallic surfaces there was no difference between the static and kinetic friction. In the other cases which he examined there was a more or less considerable difference, the static being always greater than the kinetic. He found also that the static friction depended on the length of time during which the surfaces were at rest; a prolongation of the time of rest had the effect of increasing the friction, and the rate of this increase varied much in different cases. When the intensity of pressure was great the static friction reached its highest value in a shorter time than when the pressure was small. Coulomb also examined the influence of velocity on the kinetic friction; but his means of observing this seem to have been somewhat rough. He was, however, able to point out that generally, although subject to several exceptions, friction is independent of the extent of surface in contact, directly proportional to the pressure, and independent of the velocity.

Isoelectric focusing of insulin, 125I-insulin and the 125I-insulin-antibody complex

1979 ◽  
Vol 44 (6) ◽  
pp. 1828-1834
Author(s):  
Asja Šiševa ◽  
Jiřina Slaninová ◽  
Tomislav Barth ◽  
Stephan P. Ditzov ◽  
Luben M. Sirakov
Keyword(s):  
Isoelectric Focusing ◽  
Polyacrylamide Gel ◽  
The Other ◽  
Insulin Antibody ◽  
Isoelectric Points ◽  
Antibody Complex ◽  
And Storage ◽  
Acid Region ◽  
Three Components

Isoelectric focusing on polyacrylamide gel columns of three native crystalline commercial preparations of insulin and 125I-labelled insulin was carried out. All the compounds studied contained three components of different isoelectric points. The largest fraction, having pI 5.60 ± 0.05, was common to all preparations. The other two fractions were situated in the acid region of pH between pI 4.5 and 5.2. The presence of these fractions is explained by the contamination of crystalline insulins by proinsulin and by the formation of des-amido derivatives during the dissolving and storage of insulin samples, and, in case of labelled insulin, also by the presence of heavily iodinated insulin and contaminating components. The isoelectric focusing of the complex 125I-insulin-antibody showed a peak of radioactivity having pI 6.15 ± 0.05.

scholarly journals On Newcomb's method of investigating periodicities and its application to Brückner's weather cycle

1914 ◽  
Vol 90 (619) ◽  
pp. 349-355
Keyword(s):  
Thermal Radiation ◽  
The Other ◽  
New Method ◽  
Critical Examination ◽  
Numerical Work ◽  
Average Value ◽  
Other Hand ◽  
Relationship Of ◽  
The Relationship ◽  
Great Simplicity

During the last few years of his life Prof. Simon Newcomb was keenly interested in the problem of periodicities, and devised a new method for their investigation. This method is explained, and to some extent applied, in a paper entitled "A Search for Fluctuations in the Sun's Thermal Radiation through their Influence on Terrestrial Temperature." The importance of the question justifies a critical examination of the relationship of the older methods to that of Newcomb, and though I do not agree with his contention that his process gives us more than can be obtained from Fourier's analysis, it has the advantage of great simplicity in its numerical work, and should prove useful in a certain, though I am afraid, very limited field. Let f ( t ) represent a function of a variable which we may take to be the time, and let the average value of the function be zero. Newcomb examines the sum of the series f ( t 1 ) f ( t 1 + τ) + f ( t 2 ) f ( t 2 + τ) + f ( t 3 ) f ( t 3 + τ) + ..., where t 1 , t 2 , etc., are definite values of the variable which are taken to lie at equal distances from each other. If the function be periodic so as to repeat itself after an interval τ, the products are all squares and each term is positive. If, on the other hand, the periodic time be 2τ, each product will be negative and the sum itself therefore negative. It is easy to see that if τ be varied continuously the sum of the series passes through maxima and minima, and the maxima will indicated the periodic time, or any of its multiples.

On Slip Inception and Static Friction for Smooth Dry Contact

2014 ◽  
Vol 81 (12) ◽  
Author(s):  
Xi Shi
Keyword(s):  
Shear Strength ◽  
Contact Area ◽  
Material Properties ◽  
Static Friction ◽  
Friction Model ◽  
Interfacial Bonding ◽  
The Other ◽  
Material Failure ◽  
Bonding Failure ◽  
Dry Contact

Slip inception mechanism is very important for modeling of static friction and understanding of some experimental observations of friction. In this work, slip inception was treated as a local competence of interfacial bonding failure and weaker material failure. At any contacting point, if bond shear strength is weaker than softer material shear strength, slip inception is governed by interfacial bonding failure. Otherwise, it is governed by softer material failure. Considering the possible co-existence of these two slip inception mechanisms during presliding, a hybrid static friction model for smooth dry contact was proposed, which indicates that the static friction consists of two components: one contributed by contact area where bonding failure is dominant and the other contributed by contact area where material failure is dominant. With the proposed static friction model, the effects of contact pressure, the material properties, and the contact geometry on static friction were discussed.

Locomotory Diseases Influence on Body Equilibrium and Balance

2014 ◽  
Vol 555 ◽  
pp. 652-658 ◽  
Author(s):  
Barbu Cristian Braun ◽  
Ileana Constanta Rosca
Keyword(s):  
Body Mass ◽  
Human Subjects ◽  
Force Plate ◽  
The Body ◽  
The Other ◽  
New Method ◽  
First Person ◽  
Mass Center ◽  
Stability Problems ◽  
Research Stage

The paper describes a new method of body equilibrium evaluation applied for different human subjects, the principal aim being to demonstrate to what extent any locomotory diseases could influence the body stability and equilibrium. The research refers to identify some persons with different locomotory diseases and to find both the influence on equilibrium and stability and if possible to improve them. Our research stage, synthesized in this paper, explains the body equilibrium evaluation in orthostatic posture done for different subjects, aged between 20 and 40 years. A number of 10 relevant persons were considered to be evaluated, 2 of them having some locomotory diseases. The first person presents any neuro-motor stability problems in case of long standing case. The other person has both Achilles tendons torn and operated. All subjects were tested in orthostatic posture, in 3 distinct positions, using a Kistler force plate. The experiments referred to the body mass center (COM) displacement in sagittal and lateral planes, representing an interesting characteristic for its equilibrium. It was shown that the person with diseases affecting stability presented a loss of equilibrium when standing for 10-20 seconds, i.e. higher COM displacements in both planes reported to the other tested subjects.

A modified Runge-Kutta method

SIMULATION ◽  
1968 ◽  
Vol 10 (5) ◽  
pp. 221-223 ◽  
Author(s):  
A.S. Chai
Keyword(s):  
Error Estimate ◽  
Linear Combination ◽  
Experimental Results ◽  
The Other ◽  
New Method ◽  
Kutta Method ◽  
Starting Values ◽  
Runge Kutta Method ◽  
Runge Kutta ◽  
A Minor

It is possible to replace k2 in a 4th-order Runge-Kutta for mula (also Nth-order 3 ≤ N ≤ 5) by a linear combination of k1 and the ki's in the last step, using the same procedure for computing the other ki's and y as in the standard R-K method. The advantages of the new method are: It re quires one less derivative evaluation, provides an error estimate at each step, gives more accurate results, and needs a minor change to switch to the RK to obtain the starting values. Experimental results are shown in verification of the for mula.

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