scholarly journals Desktop Cartesian-Type Robot with Abilities of Compliant Motion and Stick-Slip Motion

10.5772/9327 ◽  
2010 ◽  
Author(s):  
Fusaomi Nagata ◽  
Shintaro Tani ◽  
Takanori Mizobuchi Tetsuo Hase Zenku Hag ◽  
Keigo Watanabe
Keyword(s):  
Stick Slip ◽  
Compliant Motion ◽  
Stick Slip Motion ◽  
Slip Motion

Desktop NC Machine Tool With Abilities of Compliant Motion and Stick-Slip Motion

2009 ◽  
Author(s):  
Fusaomi Nagata ◽  
Shintaro Tani ◽  
Takanori Mizobuchi ◽  
Tetsuo Hase ◽  
Zenku Haga ◽  
...  
Keyword(s):  
Machine Tool ◽  
Feedback Loop ◽  
Force Feedback ◽  
Stick Slip ◽  
Compliant Motion ◽  
Nc Machine Tool ◽  
Feedforward Loop ◽  
Nc Machine ◽  
Stick Slip Motion ◽  
Slip Motion

In this paper, a new desktop NC machine tool, which has abilities of compliant motion and stick-slip motion, is first presented for finishing small metallic molds with curved surface. The NC machine tool consists of three single-axis robots with a high position resolution of 1μm. A thin wood stick tool is attached to the tip of the z-axis. The tool tip has a small ball-end shape. The control system is composed of a force feedback loop, position feedback loop and position feedforward loop. The force feedback loop controls the polishing force consisting of tool contact force and kinetic friction forces. The position feedback loop controls the position in pick feed direction, e.g., z-direction. The position feedforward loop leads the tool tip along a desired trajectory called cutter location data (CL data). The CL data are generated from the main-processor of a CAM system. The proposed NC machine tool has realized a compliant motion required for the surface following control along a spiral path. In order to improve the finishing performance, a small stick-slip motion control strategy is further added to the control system. The small stick-slip motion is orthogonally generated to the direction of the tool moving direction. Generally, the stick-slip motion is an undesirable phenomenon and should be eliminated in precision machineries. However, the proposed NC machine tool employs a small stick-slip motion to improve the finishing quality. The effectiveness of the NC machine tool was examined through an actual finishing test of a LED lens mold with a diameter of 4 mm. It was observed that the undesirable cusps can be removed uniformly. And, it was confirmed from the results that the proposed finishing strategy by using the stick-slip motion control is effective to achieve a higher quality surface like a mirror finishing.

Dynamics of stick–slip motion, Whillans Ice Stream, Antarctica

2011 ◽  
Vol 305 (3-4) ◽  
pp. 283-289 ◽  
Author(s):  
J. Paul Winberry ◽  
Sridhar Anandakrishnan ◽  
Douglas A. Wiens ◽  
Richard B. Alley ◽  
Knut Christianson
Keyword(s):  
Stick Slip ◽  
Ice Stream ◽  
Whillans Ice Stream ◽  
Stick Slip Motion ◽  
Slip Motion

Dynamic simulation of stick–slip motion of a flexible solar array

2008 ◽  
Vol 16 (6) ◽  
pp. 724-735 ◽  
Author(s):  
Yasushi Kojima ◽  
Shigemune Taniwaki ◽  
Yoshiaki Okami
Keyword(s):  
Dynamic Simulation ◽  
Solar Array ◽  
Stick Slip ◽  
Stick Slip Motion ◽  
Slip Motion

scholarly journals Basal ice motion and deformation at the ice-sheet margin, West Greenland

2005 ◽  
Vol 42 ◽  
pp. 67-70 ◽  
Author(s):  
David M. Chandler ◽  
Richard I. Waller ◽  
William G. Adam
Keyword(s):  
Deformation Mode ◽  
Time Intervals ◽  
Stick Slip ◽  
Active Deformation ◽  
West Greenland ◽  
Shear Structures ◽  
Basal Ice ◽  
Ice Velocity ◽  
Stick Slip Motion ◽  
Slip Motion

AbstractMeasurements of basal ice deformation at the margin of Russell Glacier, West Greenland, have provided an opportunity to gain more insight into basal processes occurring near the margin. The basal ice layer comprises a debris-rich, heterogeneous stratified facies, overlain by a comparatively debris-poor dispersed facies. Ice velocities were obtained from anchors placed in both ice facies, at three sites under 5–15 m ice depth. Mean velocities ranged from 20 to 43 m a–1, and velocity gradients indicate high shear strain rates within the basal ice. Stick–slip motion and diurnal variations were observed during measurements at short (1–5 min) time intervals. Vertical gradients in horizontal ice velocity indicate two modes of deformation: (1) viscous deformation within the stratified ice facies, and (2) shear at the interface between the two basal ice facies. Deformation mode 1 may contribute to the folding and shear structures observed in the stratified facies. Deformation mode 2 may generate the stick–slip motion and be associated with the formation of debris bands. Active deformation close to the margin suggests that structures observed within the basal ice are only partially representative of processes occurring near the bed in areas away from the glacier margin.

Experimental Exploration of Schallamach Waves and Self-Excitation in a Belt-Drive System

2018 ◽  
Author(s):  
Yingdan Wu ◽  
Michael Varenberg ◽  
Michael J. Leamy
Keyword(s):  
Angular Velocity ◽  
Dynamic Behavior ◽  
Oscillation Amplitude ◽  
Operating Conditions ◽  
Drive System ◽  
Belt Drive ◽  
Stick Slip ◽  
Stick Slip Motion ◽  
System Inertia ◽  
Slip Motion

We study the dynamic behavior of a belt-drive system to explore the effect of operating conditions and system moment of inertia on the generation of waves of detachment (i.e., Schallamach waves) at the belt-pulley interface. A self-excitation phenomenon is reported in which frictional fluctuations serve as harmonic forcing of the pulley, leading to angular velocity oscillations which grow in time. This behavior depends strongly on operating conditions (torque transmitted and pulley speed) and system inertia, and differs between the driver and driven pulleys. A larger net torque applied to the pulley generally yields more remarkable stick-slip oscillations with higher amplitude and lower frequency. Higher driving speeds accelerate the occurrence of stick-slip motion, but have little influence on the oscillation amplitude. Contrary to our expectations, the introduction of flywheels to increase system inertia amplified the frictional disturbances, and hence the pulley oscillations. This does, however, suggest a way of facilitating their study, which may be useful in follow-on research.

scholarly journals A geophone wireless sensor network for investigating glacier stick-slip motion

2017 ◽  
Vol 105 ◽  
pp. 103-112 ◽  
Author(s):  
Kirk Martinez ◽  
Jane K. Hart ◽  
Philip J. Basford ◽  
Graeme M. Bragg ◽  
Tyler Ward ◽  
...  
Keyword(s):  
Wireless Sensor Network ◽  
Sensor Network ◽  
Wireless Sensor ◽  
Stick Slip ◽  
Stick Slip Motion ◽  
Slip Motion
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