Nonintrusive Measurement of Contact Forces During Vibration Dominated Impacts

2004 ◽  
Vol 126 (3) ◽  
pp. 489-497 ◽  
Author(s):  
Satwinder Jit Singh ◽  
Anindya Chatterjee

Impact force estimation is done indirectly through, e.g., strain measurements away from the contact point, because inserting a force transducer between the contacting objects changes the force. Most prior contact force measurements involved a single contact interval. Here we study transverse impacts of a slender beam and a clamped-free plate; contact occurs more than once within one impact. Strain gauge data, electrical contact detection, and a dynamic model of the beam are used to estimate the contact force. The problem of force estimation from strain gauge data is ill-posed, and Tikhonov regularization fails initially. A reduced-order model is then developed using symmetry, and better initial conditions are estimated using a Kalman filter. Subsequently, Tikhonov regularization gives excellent force estimates, empirically supported by the contact duration measurements. Two other methods that explicitly use the contact duration measurements are also given. The first uses Tikhonov regularization within each contact interval, followed by Kalman filtering during noncontact to get initial conditions for the next contact. The second uses truncated Fourier sine series in each contact interval and is, computationally, the simplest. All three methods provide consistent force estimates. Our work complements recent work by Inoue and coworkers where the impulse response of the colliding object was measured separately using a Hopkinson bar, and electrical contact was not monitored.

Author(s):  
Dennis W. Hong ◽  
Raymond J. Cipra

One of the inherent problems of multi-limbed mobile robotic systems is the problem of multi-contact force distribution; the contact forces and moments at the feet required to support it and those required by its tasks are indeterminate. A new strategy for choosing an optimal solution for the contact force distribution of multi-limbed robots with three feet in contact with the environment in three-dimensional space is presented. The optimal solution is found using a two-step approach: first finding the description of the entire solution space for the contact force distribution for a statically stable stance under friction constraints, and then choosing an optimal solution in this solution space which maximizes the objectives given by the chosen optimization criteria. An incremental strategy of opening up the friction cones is developed to produce the optimal solution which is defined as the one whose foot contact force vector is closest to the surface normal vector for robustness against slipping. The procedure is aided by using the “force space graph” which indicates where this solution is positioned in the solution space to give insight into the quality of the chosen solution and to provide robustness against disturbances. The “margin against slip with contact point priority” approach is also presented which finds an optimal solution with different priorities given to each foot contact point for the case when one foot is more critical than the other. Examples are presented to illustrate certain aspects of the method and ideas for other optimization criteria are discussed.


Author(s):  
J Jung ◽  
J Lee ◽  
K Huh

Information on contact forces in robot manipulators is indispensable for fast and accurate force control. Instead of expensive force sensors, estimation algorithms for contact forces have been widely developed. However, it is not easy to obtain the accurate values due to uncertainties. In this article, a new robust estimator is proposed to estimate three-dimensional contact forces acting on a three-link robot manipulator. The estimator is based on the extended Kalman filter (EKF) structure combined with a Lyapunov-based adaptation law for estimating the contact force. In contrast to the conventional EKF the new estimator is designed such that it is robust to the deterministic uncertainties such as the modelling error and the sensing bias. The performance of the proposed estimator is evaluated through simulations of a robot manipulator and demonstrates robustness in estimating the contact force. The estimation results show that it can be potentially used to replace the expensive force sensors in robot applications.


Author(s):  
Dennis W. Hong ◽  
Raymond J. Cipra

A new analytical method for determining, describing, and visualizing the solution space for the contact force distribution of multi-limbed robots with three feet in contact with the environment in three-dimensional space is presented. The foot contact forces are first resolved into strategically defined foot contact force components to decouple them for simplifying the solution process, and then the static equilibrium equations are applied to find certain contact force components and the relationship between the others. Using the friction cone equation at each foot contact point and the known contact force components, the problem is transformed into a geometrical one to find the ranges of contact forces and the relationship between them that satisfy the friction constraint. Using geometric properties of the friction cones and by simple manipulation of their conic sections, the whole solution space which satisfies the static equilibrium and friction constraints at each contact point can be found. Two representation schemes, the “force space graph” and the “solution volume representation,” are developed for describing and visualizing the solution space which gives an intuitive visual map of how well the solution space is formed for the given conditions of the system.


2005 ◽  
Vol 128 (3) ◽  
pp. 566-573 ◽  
Author(s):  
Dennis W. Hong ◽  
Raymond J. Cipra

One of the inherent problems of multi-limbed mobile robotic systems is the problem of multi-contact force distribution; the contact forces and moments at the feet required to support it and those required by its tasks are indeterminate. A new strategy for choosing an optimal solution for the contact force distribution of multi-limbed robots with three feet in contact with the environment in three-dimensional space is presented. The incremental strategy of opening up the friction cones is aided by using the “force space graph” which indicates where the solution is positioned in the solution space to give insight into the quality of the chosen solution and to provide robustness against disturbances. The “margin against slip with contact point priority” approach is also presented which finds an optimal solution with different priorities given to each foot contact point. Examples are presented to illustrate certain aspects of the method and ideas for other optimization criteria are discussed.


Automation ◽  
2021 ◽  
Vol 2 (3) ◽  
pp. 83-97
Author(s):  
Mark Spiller ◽  
Dirk Söffker

In turbomachines, dry friction resulting from stator–rotor contacts is a severe problem that may degrade lifetime of the machine or even lead to complete failure. Knowledge about the system states and contact forces is beneficial for system monitoring or to prevent contacts through, e.g., active magnetic bearings. In this paper, a nonlinear model is derived that describes the lateral rotor vibrations in the case of contact and no contact. The elastic behavior of the shaft is modeled based on the finite-element method. The contact is described by a dry friction model. An augmented system description is formulated that allows estimation of rotor displacements and contact forces by means of nonlinear filtering approaches like an extended Kalman filter. A simulation study was conducted that explicitly considered the hazardous backward whirl. The suggested approach shows suitable estimation performance related to both state and contact force estimation.


Author(s):  
D. J. Dickrell ◽  
M. T. Dugger

Surface contamination has long been known to affect the performance of devices that utilize contacting electrodes. Electrical contact degradation is insensitive to the specific nature of the surface contamination, in that formation of any dielectric material at contact points will result in increased contact resistance. This phenomenon is particularly detrimental in microelectromechanical system (MEMS) electrical contacts, where contact forces are limited and may be insufficient to disrupt surface films. Increases in electrical contact resistance with cyclic operation is a major source of reliability problems associated with MEMS electrical contacts. Silicone oil can act as a highly effective lubricant for sliding MEMS surfaces, increasing operational lifetime for devices with interacting surfaces. However, silicone is also a known source of electrical contact surface contamination, readily decomposing into insulating species when sufficiently energized [1–3]. Even though silicone oil immersed electrical contacts have been successfully used in large contact force electrical contacts, the performance and reliability implications of using silicone-immersed low-force MEMS electrical contacts are not well characterized. The subject of this study was to determine if hot-switched metal contacts immersed in silicone oil will degrade similarly to contacts know to degrade in a non-immersed environment. Electrical contact resistance degradation originating from arcing or metal-bridge-evaporation induced decomposition of surface contamination has been observed previously [4]. Silicone oil immersed low-force electrical contacts were made using a modified nano-indentation apparatus. A schematic of the contact zone is shown in Fig. 1. The apparatus was able to measure electrical contact resistance and adhesion of Au-coated spheres contacting silicone oil-contaminated Au-metallized silicon wafers. The contact forces selected were similar to normal loads achievable in MEMS devices. Figure 2. shows the electrical contact resistance degradation of a silicone oil immersed gold-gold contact vs. the same uncontaminated contact obtained from the experimental apparatus. The data points are the averaged resistance values during the period of maximum applied load, 100 μN in this case. The calculated Hertzian contact area (neglecting roughness effects) was 2.1 μm. The open-circuit voltage was set at 3.3 V and the in-contact current was limited to 3 mA. An individual contact cycle data point taken from Fig. 2, displaying the contact force and resistance versus time, is shown in Fig. 3. The resistance averaged over the peak load remains ∼1.1 Ω, even though during periods of low contact force the contact resistance is several orders of magnitude higher than at peak load. The asymmetry of the contact resistance in Fig. 3 suggests that an interfacial contaminant layer was ruptured during loading, creating adherent metallic contacts and allowing for lower resistance at smaller contact loads. This load-supporting, dielectric layer continues to evolve until, by cycle 20, the conductivity of the contact surfaces has been completely inhibited. Surface analysis of the contaminated surfaces was performed in order to ascertain the composition of the electrical contact interface. Relationships between surface contamination, mechanical stress and electrical contact resistance degradation will be discussed relating to the use of silicone oil in MEMS electrical contacts.


Author(s):  
Svenja Kirchenkamp ◽  
Dirk So¨ffker

This contribution introduces a virtual measurement device for the reconstruction of the in practice unmeasureable railwheel contact forces. For this aim the Proportional-Integral (PI)-Observer is used. Then, the concept of a measurement sleeve at the axle bearing is shown. With the displacement measurements resulting from the sleeve using the PI-Observer, an estimation of the tangential contact force and the dynamic normal force is possible. Using the simulation of the rail-wheel contact, the feasibility of the estimation of the contact force behavior is shown. As an outlook for further applications of the PI-Observer in the context of rail-wheel contact force estimation, the reconstruction of contact forces by using acceleration measurements is demonstrated by an example of an elastic beam for the first time.


Author(s):  
Yan Liu ◽  
Dirk So¨ffker

This contribution presents a contact force estimation approach based on an optimal high-gain disturbance observer for an elastic beam using noisy measurements. The reconstruction of contact forces as an example for unknown input estimation represents a class of typical mechanical engineering problems related to the estimation of unknown effects for disturbance rejection or accommodation or fault diagnosis and isolation. The high-gain disturbance observers applied here is able to estimate estimate unknown external inputs together with system states. But choosing observer gains is a difficult task because of the influence of measurement noise. The important advantage of the proposed approach in comparison with classical high-gain disturbance observer is the self adjustment of the observer gains according to the actual estimation situation. Estimation results based on real measurements from known high-gain disturbance observer and the proposed optimal one are compared. It can be shown that the proposed algorithm allows optimized disturbance observer gains calculation, being able to be situatively adapted.


2005 ◽  
Vol 128 (1) ◽  
pp. 295-302 ◽  
Author(s):  
Dennis W. Hong ◽  
Raymond J. Cipra

A new analytical method for determining, describing, and visualizing the solution space for the contact force distribution of multi-limbed robots with three feet in contact with the environment in three-dimensional space is presented. The foot contact forces are first resolved into strategically defined foot contact force components to decouple them, and then the static equilibrium equations are applied. Using the friction cone equation at each foot contact point, the problem is then transformed into a geometrical one. Using geometric properties of the friction cones and by simple manipulation of their conic sections, the entire solution space which satisfies the static equilibrium and friction constraints at each contact point can be found. Two representation schemes, the “force space graph” and the “solution volume representation,” are developed for describing and visualizing the solution space which gives an intuitive visual map of how well the solution space is formed for the given conditions of the system.


Author(s):  
Carlotta Mummolo ◽  
Luigi Mangialardi ◽  
Joo H. Kim

Generating the motion of redundant systems under general constraints within an optimization framework is a problem not yet solved, as there is, so far, a lack of completely predictive methods that concurrently solve for the optimal trajectory and the contact status induced by the given constraints. A novel approach for optimal motion planning of multibody systems with contacts is developed, based on a Sequential Quadratic Programming (SQP) algorithm for Nonlinear Programming (NLP). The objective is to detect and optimize the contact status and the relative contact force within the optimization sequential problem, while simultaneously optimizing a trajectory. The novelty is to seek for the contact information within the iterative solution of the SQP algorithm and use this information to sequentially update the resulting contact force in the system’s dynamic model. This is possible by looking at the analytical relationship between the dual variables resulting from the constrained NLP and the Lagrange multipliers that represent the contact forces in the classical formulation of constrained dynamic systems. This approach will result in a fully predictive algorithm that doesn’t require any a priori knowledge on the contact status (e.g., time of contact, point of contact, etc.) or contact force magnitude. A preliminary formulation is presented, as well as numerical experiments on simple planar manipulators, as demonstration of concepts.


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