On Some Problems With Modeling of Coulomb Friction in Self-Locking Mechanisms

2016 ◽  
Vol 11 (1) ◽  
Author(s):  
Marek Wojtyra
Keyword(s):  
System Dynamics ◽  
Rigid Body ◽  
Coulomb Friction ◽  
Kinetic Regime ◽  
Friction Forces ◽  
Friction Law ◽  
Joint Friction ◽  
Body Model ◽  
Rigid Body Model ◽  
Coulomb Friction Law

Friction significantly influences the mechanical system dynamics, especially when self-locking property is observed. The Coulomb model is frequently adopted to represent friction in multibody analysis and simulation. It can be shown that in some extreme cases of joint friction modeling, problems with solution uniqueness and existence are encountered, even when only bilateral constraints and kinetic regime of friction are considered. These problems are studied in detail in the paper. To approach the investigated subject, a wedge mechanism, viewed as a simplified model of a speed reducer, is studied. Two different mathematical models of joint friction are used, both based on the Coulomb friction law. The first version of the model is purely rigid, i.e., no deflections of the mechanism bodies are allowed. Constraints are imposed to maintain the ratio between input and output velocity. The second version of the model allows deflection of the frictional contact surface, and forces proportional to this deflection are applied to contacting bodies (no constraints to maintain the input–output velocity ratio). Using the rigid body model, it is shown that when friction is above the self-locking limit, paradoxical situations may be observed when kinetic friction is investigated. For some sets of parameters of the mechanism (gearing ratio, friction coefficient, and inertial parameters), two distinct solutions of normal and friction forces can be found. Moreover, for some combinations of external loads, a solution that satisfies equations of motion, constraints, and the Coulomb friction law does not exist. Furthermore, for appropriately chosen loads and parameters of the mechanism, infinitely many feasible sets of normal and friction forces can be found. Investigation of the flexible body model reveals that in nonparadoxical situations the obtained results are closely similar to those predicted by the rigid body model. In previous paradoxical situations, no multiple solutions are found; however, problems with stability of solutions emerge. It is shown that in regions for which the paradoxes were observed only unstable solutions are available. The origins of paradoxical behavior are identified and discussed. The key factors determining the model performance are pointed out. Examples of all indicated problematic situations are provided and analyzed. Finally, the investigated problems are commented from more general perspectives of multibody system dynamics.

On Some Problems With Modeling of Coulomb Friction in Self-Locking Speed Reducers

2014 ◽  
Author(s):  
Marek Wojtyra
Keyword(s):  
Rigid Body ◽  
Coulomb Friction ◽  
Equations Of Motion ◽  
Velocity Ratio ◽  
Friction Forces ◽  
Friction Law ◽  
Rigid Body Model ◽  
Feasible Sets ◽  
Unstable Solutions ◽  
Coulomb Friction Law

A simple mathematical model of friction in speed reducers is presented and discussed. A rigid body approach, typical for multibody simulations, is adopted. The model is based on the Coulomb friction law and exploits the analogy between reducers and wedge mechanisms. The first version of the model is purely rigid, i.e. no deflections of the mechanism bodies are allowed. Constraints are introduced to maintain the ratio between input and output velocity. It is shown that when friction is above the self-locking limit, paradoxical situations may be observed when kinetic friction is investigated. For some sets of parameters of the mechanism (gearing ratio, coefficient of friction and inertial parameters) two distinct solutions of normal and friction forces can be found. Moreover, for some combinations of external loads, a solution that satisfies equations of motion, constraints and Coulomb friction law does not exist. Furthermore, for appropriately chosen loads and parameters of the mechanism, infinitely many feasible sets of normal and friction forces can be found. Examples of all indicated paradoxical situations are provided and discussed. The second version of the model allows deflection of the frictional contact surface, and forces proportional to this deflection are applied to contacting bodies (no constraints to maintain the input-output velocity ratio are introduced). In non-paradoxical situations the obtained results are closely similar to those predicted by the rigid body model. In previously paradoxical situations no multiple solutions of friction force are found, however, the amended model does not solve all problems. It is shown that in regions for which the paradoxes were observed only unstable solutions are available. Numerical examples showing behavior of the model are provided and analyzed.

A Compliant Straight-Line Shock Absorption Mechanism Using a Viscoelastic Pseudo-Rigid Body Model

2009 ◽  
Author(s):  
Carl A. Nelson
Keyword(s):  
Energy Dissipation ◽  
System Dynamics ◽  
Rigid Body ◽  
Large Deflection ◽  
Compliant Mechanisms ◽  
Force Analysis ◽  
Absorption Mechanism ◽  
Body Model ◽  
Straight Line ◽  
Rigid Body Model

A compliant suspension linkage based on the Peaucellier mechanism is presented. The suspension uses large-deflection viscoelastic beams to achieve straight-line motion and to provide energy dissipation. Kinematics and force analysis of the linkage are presented. In preparing to simulate the system dynamics, it was noticed that no adaptation of the pseudo-rigid body model for viscoelastic beams had been previously presented. Therefore, a new general approach for modeling viscoelastic, large-deflection beams in compliant mechanisms is described within the context of the pseudo-rigid-body model. This method is applied in simulation of the Peaucellier-based compliant suspension under a variety of input conditions.

Some Consequences of Coulomb Friction in Modeling Longitudinal Traction

1990 ◽  
Vol 18 (1) ◽  
pp. 13-65 ◽  
Author(s):  
W. W. Klingbeil ◽  
H. W. H. Witt
Keyword(s):  
Shear Force ◽  
Coulomb Friction ◽  
Interfacial Shear ◽  
Force Generation ◽  
Behavior Patterns ◽  
Inflation Pressure ◽  
Friction Law ◽  
The Coefficient Of Friction ◽  
Coulomb Friction Law ◽  
Perfect Adhesion

Abstract A three-component model for a belted radial tire, previously developed by the authors for free rolling without slip, is generalized to include longitudinal forces and deformations associated with driving and braking. Surface tractions at the tire-road interface are governed by a Coulomb friction law in which the coefficient of friction is assumed to be constant. After a brief review of the model, the mechanism of interfacial shear force generation is delineated and explored under traction with perfect adhesion. Addition of the friction law then leads to the inception of slide zones, which propagate through the footprint with increasing severity of maneuvers. Different behavior patterns under driving and braking are emphasized, with comparisons being given of sliding displacements, sliding velocities, and frictional work at the tire-road interface. As a further application of the model, the effect of friction coefficient and of test variables such as load, deflection, and inflation pressure on braking stiffness are computed and compared to analogous predictions on the braking spring rate.

A Simple and Accurate Method for Determining Large Deflections in Compliant Mechanisms Subjected to End Forces and Moments

1998 ◽  
Vol 120 (3) ◽  
pp. 392-400 ◽  
Author(s):  
A. Saxena ◽  
S. N. Kramer
Keyword(s):  
Rigid Body ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Elliptic Integral ◽  
Beam Equation ◽  
Large Deflections ◽  
Euler Beam ◽  
Body Model ◽  
Rigid Body Model ◽  
Analysis And Synthesis

Compliant members in flexible link mechanisms undergo large deflections when subjected to external loads. Because of this fact, traditional methods of deflection analysis do not apply. Since the nonlinearities introduced by these large deflections make the system comprising such members difficult to solve, parametric deflection approximations are deemed helpful in the analysis and synthesis of compliant mechanisms. This is accomplished by representing the compliant mechanism as a pseudo-rigid-body model. A wealth of analysis and synthesis techniques available for rigid-body mechanisms thus become amenable to the design of compliant mechanisms. In this paper, a pseudo-rigid-body model is developed and solved for the tip deflection of flexible beams for combined end loads. A numerical integration technique using quadrature formulae has been employed to solve the large deflection Bernoulli-Euler beam equation for the tip deflection. Implementation of this scheme is simpler than the elliptic integral formulation and provides very accurate results. An example for the synthesis of a compliant mechanism using the proposed model is also presented.

A Simple and Accurate Method for Determining Large Deflections in Complaint Mechanisms Subjected to End Forces and Moments

1998 ◽  
Author(s):  
A. Saxena ◽  
Steven N. Kramer
Keyword(s):  
Rigid Body ◽  
Numerical Integration ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Beam Equation ◽  
Integration Scheme ◽  
Large Deflections ◽  
Body Model ◽  
Rigid Body Model ◽  
Analysis And Synthesis

Abstract Compliant members in flexible link mechanisms undergo large deflections when subjected to external loads for which, traditional methods of deflection analysis do not apply Nonlinearities introduced by these large deflections make the system comprising such members difficult to solve Parametric deflection approximations are then deemed helpful in the analysis and synthesis of compliant mechanisms This is accomplished by seeking the pseudo-rigid-body model representation of the compliant mechanism A wealth of analysis and synthesis techniques available for rigid-body mechanisms thus become amenable to the design of compliant mechanisms In this paper, a pseudo-rigid-body model is developed and solved for the tip deflection of flexible beams for combined end loads with positive end moments A numerical integration technique using quadrature formulae has been employed to solve the nonlinear Bernoulli-Euler beam equation for the tip deflection Implementation of this scheme is relatively simpler than the elliptic integral formulation and provides nearly accurate results Results of the numerical integration scheme are compared with the beam finite element analysis An example for the synthesis of a compliant mechanism using the proposed model is also presented.

Evaluation of Equivalent Spring Stiffness for Use in a Pseudo-Rigid-Body Model of Large-Deflection Compliant Mechanisms

1994 ◽  
Author(s):  
Larry L. Howell ◽  
Ashok Midha
Keyword(s):  
Rigid Body ◽  
Large Deflection ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Spring Stiffness ◽  
Model Concept ◽  
Analysis And Design ◽  
Body Model ◽  
Rigid Body Model ◽  
Body Joints

Abstract Compliant mechanisms gain some or all of their mobility from the flexibility of their members rather than from rigid-body joints only. More efficient and usable analysis and design techniques are needed before the advantages of compliant mechanisms can be fully utilized. In an earlier work, a pseudo-rigid-body model concept, corresponding to an end-loaded geometrically nonlinear, large-deflection beam, was developed to help fulfill this need. In this paper, the pseudo-rigid-body equivalent spring stiffness is investigated and new modeling equations are proposed. The result is a simplified method of modeling the force/deflection relationships of large-deflection members in compliant mechanisms. Flexible segments which maintain a constant end angle are discussed, and an example mechanism is analyzed. The resulting models are valuable in the visualization of the motion of large-deflection systems, as well as the quick and efficient evaluation and optimization of compliant mechanism designs.

Parametric Deflection Approximations for Initially Curved, Large-Deflection Beams in Compliant Mechanisms

1996 ◽  
Author(s):  
Larry L. Howell ◽  
Ashok Midha
Keyword(s):  
Rigid Body ◽  
Large Deflection ◽  
Compliant Mechanisms ◽  
Curved Beam ◽  
Analysis And Design ◽  
Body Model ◽  
Rigid Body Model ◽  
Fundamental Type ◽  
Applied Forces ◽  
Flexible Member

Abstract The analysis of systems containing highly flexible members is made difficult by the nonlineararities caused by large deflections of the flexible members. The analysis and design of many such systems may be simplified by using pseudo-rigid-body approximations in modeling the flexible members. The pseudo-rigid-body model represents flexible members as rigid links, joined at pin joints with torsional springs. Appropriate values for link lengths and torsional spring stiffnesses are determined such that the deflection path and force-deflection relationships are modeled accurately. Pseudo-rigid-body approximations have been developed for initially straight beams with externally applied forces at the beam end. This work develops approximations for another fundamental type of flexible member, the initially curved beam with applied force at the beam end. This type of flexible member is commonly used in compliant mechanisms. An example of the use of the resulting pseudo-rigid-body approximations in compliant mechanisms is included.

Compliant Pantographs via the Pseudo-Rigid-Body Model

1998 ◽  
Author(s):  
Andrew J. Nielson ◽  
Larry L. Howell
Keyword(s):  
Rigid Body ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Test Results ◽  
Rigid Link ◽  
Body Model ◽  
Design Flexibility ◽  
Model Predictions ◽  
Rigid Body Model ◽  
Classical Mechanism

Abstract This paper uses a familiar classical mechanism, the pantograph, to demonstrate the utility of the pseudo-rigid-body model in the design of compliant mechanisms to replace rigid-link mechanisms, and to illustrate the advantages and limitations of the resulting compliant mechanisms. To demonstrate the increase in design flexibility, three different compliant mechanism configurations were developed for a single corresponding rigid-link mechanism. The rigid-link pantograph consisted of six links and seven joints, while the corresponding compliant mechanisms had no more than two links and three joints (a reduction of at least four links and four joints). A fourth compliant pantograph, corresponding to a rhomboid pantograph, was also designed and tested. The test results showed that the pseudo-rigid-body model predictions were accurate over a large range, and the mechanisms had displacement characteristics of rigid-link mechanisms in that range. The limitations of the compliant mechanisms included reduced range compared to their rigid-link counterparts. Also, the force-deflection characteristics were predicted by the pseudo-rigid-body model, but they did not resemble those for a rigid-link pantograph because of the energy storage in the flexible segments.

Sign in / Sign up

Export Citation Format

Share Document