Dynamic modeling of a stick-slip driving smart surface platform

Abstract The cable-driven segmented manipulator with cable-constrained synchronous rotating mechanisms (CCSRM) is a new type of continuum manipulator, which has large stiffness and less motors, and thus exhibits excellent comprehensive performance. This paper presents a dynamic modeling method for this type of manipulator to analyze the friction and deformation of the cables on the dynamical behaviors of the system. First, the driving cables are modeled based on the ALE formulation, the strategies for detecting stick-slip transitions are proposed by using a trial-and-error algorithm, and the stiff problems of the dynamic equations are released by a model smoothing method. Second, the dynamic modeling method for rigid links is presented by using quaternion parameters. Third, the connecting cables are modeled by torsional spring-dampers and the frictions between the connecting cables and the conduits are considered based on a modified Coulomb friction model. Finally, the numerical results are presented and verified by comparing with experiment results. The study shows that the friction and cable deformation play an important role in the dynamical behaviors of the manipulator. Due to these two factors, the constant curvature bending of the segments does not remain.

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Tribo-Diagnostics of Nanoparticle Coated Smart Surface Using Phase Fluctuation Based Processor

ASME/STLE 2007 International Joint Tribology Conference, Parts A and B ◽

10.1115/ijtc2007-44390 ◽

2007 ◽

Author(s):

Deepak H. Veeregowda ◽

Jagdish P. Sharma ◽

Ronald A. Wagstaff ◽

Qian J. Wang

Keyword(s):

Plastic Deformation ◽

Composite Structures ◽

High Speed ◽

Signal To Noise Ratio ◽

Phase Fluctuation ◽

Surface Plastic Deformation ◽

Surface Plastic ◽

Stick Slip ◽

And Performance ◽

Smart Surface

Smart material surfaces/interfaces are playing important role in making hybrid nano particulate coated sensors and smart composite structures for applications in space, defense, infrastructure and biological system. The reliability and performance of these coatings on the smart surface depends upon the stability and life of their nano/micro-structures and interface properties. Atomic Force Microscopy is used extensively to study friction, wear and surface forces. In this paper a tool has been developed to have an insight of signals associated with friction and tribo-acoustics. This research aims to develop a combination of tools using High Speed Data Capture tools used in conjunction with the AFM to collect the frictional signal at the frequency of 500 kHz for 500 ms and phase fluctuation processor for study of friction signal. Friction signal from the AFM has poor information on the interfacial material properties like the stick-slip, plastic deformation of the contact surface. Clearer, information can be attained using the phase fluctuation based processor. This method provides friction signal and generation of the tribo-acoustics due to surface plastic deformation with excellent signal to noise ratio.

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Dynamic modeling and control strategy for turning in place motion of a two-coaxial pendulums driven spherical inspector based on stick–slip principle

Mechanism and Machine Theory ◽

10.1016/j.mechmachtheory.2014.09.003 ◽

2015 ◽

Vol 83 ◽

pp. 69-80 ◽

Cited By ~ 5

Author(s):

Lei Wang ◽

Bo Zhao

Keyword(s):

Dynamic Modeling ◽

Control Strategy ◽

Stick Slip ◽

Modeling And Control ◽

And Control

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A method for dynamic modeling and simulation of the translational joint with clearance and LuGre friction

Modern Physics Letters B ◽

10.1142/s0217984918401188 ◽

2018 ◽

Vol 32 (34n36) ◽

pp. 1840118

Author(s):

Xiaojun Wang

Keyword(s):

Modeling And Simulation ◽

Dynamic Modeling ◽

Friction Model ◽

Contact Forces ◽

Geometric Constraints ◽

Stick Slip ◽

Bilateral Constraints ◽

Lugre Friction ◽

Translational Joint ◽

Slider Motion

The main purpose of this paper is to present a method for dynamic modeling and simulation of the translational joint with friction and clearance. The sizes of the clearances and the impacts between the slider and the guide in the translational joint can be neglected when the clearance sizes are very small. The geometric constraints of the translational joint are treated as bilateral constraints. The contact forces acting on the slider are reduced to the forces on the slider corners. The LuGre friction model is used to describe friction between slider and guide, because it can capture the variation of the friction force with slip velocity and the slider motion with stick–slip phenomenon. The problem of computing the normal forces on the slider is formulated and solved as a horizontal linear complementarity problem (HLCP), which is embedded in the event-driven method. Finally, a numerical example is considered and numerical results are presented to show the feasibility and the effectiveness of the method.

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