Dynamic Analysis of Planar Mechanical Systems With Clearance Joint Based on LuGre Friction Model

2018 ◽  
Vol 13 (6) ◽  
Author(s):  
Xiao Tan ◽  
Guoping Chen ◽  
Dongyang Sun ◽  
Yan Chen
Keyword(s):  
Contact Force ◽  
Coulomb Friction ◽  
Friction Model ◽  
Stick Slip ◽  
Stribeck Effect ◽  
Revolute Clearance Joint ◽  
Lugre Friction Model ◽  
Clearance Joint ◽  
Lugre Friction ◽  
Coulomb Friction Model

A computational methodology to model and analyze planar rigid mechanical system with stick–slip friction in revolute clearance joint is presented. In this work, the LuGre friction model, which captures the Stribeck effect and spring-like characteristics for stiction, is employed to estimate the stick–slip friction in revolute clearance joint. A hybrid contact force model, combining Lankarani–Nikravesh model, and improved elastic foundation model, is used to establish contact model. The generalized-α method, which can dissipate the spurious high-frequency responses caused by the strongly nonlinear contact force and friction in numerical simulation, is adopted to solve the equations of motion and make the result closer to the physics of the problem. A slider-crank mechanism with revolute clearance joint based on LuGre friction model and modified coulomb friction model are simulated, respectively, and utilized to discuss the influences of the Stribeck effect and stiction on dynamic behavior of the mechanism. Different test scenarios are considered to investigate the effects of the clearance size and friction coefficient on the dynamic response of the mechanism. The results show that the mechanism based on LuGre friction model has better energy dissipation characteristics, while there are stiction phenomena of the contacting surfaces in many cases. When the relative velocity is zero or close to zero, the contact force of mechanism based on the LuGre friction model is significantly lower than that based on the modified coulomb friction model. Clearance size and friction coefficient obviously affect dynamic behavior of the mechanism.

Asperity Spring Friction Model With Application to Belt-Drives

2003 ◽  
Author(s):  
Tamer M. Wasfy
Keyword(s):  
Finite Element ◽  
Coulomb Friction ◽  
Friction Model ◽  
Belt Drive ◽  
Finite Element Code ◽  
Time Step ◽  
Stick Slip ◽  
Normal Contact ◽  
Belt Drives ◽  
Coulomb Friction Model

An asperity spring friction model that uses a variable anchor point spring along with a velocity dependent force is presented. The model is incorporated in an explicit timeintegration finite element code. The friction model is used along with a penalty-based normal contact model to simulate the dynamic response of a two-pulley belt-drive system. It is shown that the present friction model accurately captures the stick-slip behavior between the belt and the pulleys using a much larger time-step than a pure velocity-dependent approximate Coulomb friction model.

Modeling and Analysis of Spatial Flexible Mechanical Systems With a Spherical Clearance Joint Based on the LuGre Friction Model

2019 ◽  
Vol 15 (1) ◽  
Author(s):  
Xiao Tan ◽  
Guoping Chen ◽  
Hanbo Shao
Keyword(s):  
Mechanical Systems ◽  
Beam Element ◽  
Friction Model ◽  
Lugre Friction Model ◽  
Clearance Joint ◽  
Lugre Friction ◽  
Computational Methodology ◽  
Crank Mechanism ◽  
Flexible Components

Abstract A computational methodology for modeling spatial flexible mechanical systems with stick-slip friction in a spherical clearance joint is presented. A modified three-dimensional (3D) absolute nodal coordinate formulation based shear deformable beam element with two nodes is proposed and employed to discretize the flexible components. To avoid locking problems, we employed an enhanced continuum mechanics approach to evaluate the beam element elastic forces. The strain components εyz, εyy, and εzz are approximated using linear interpolation to improve the computational efficiency while the loss of accuracy is acceptable. The contact and friction forces in a spherical clearance joint were evaluated by the hybrid contact and LuGre friction models, respectively. Three numerical examples are presented and discussed. A simple pendulum was utilized to prove the correctness of the modified beam element. A classical slider–crank mechanism was employed to validate the computational methodology. A spatial rigid–flexible slider–crank mechanism with a spherical clearance joint was used to investigate the effect of link flexibility and joint clearance on the dynamic behavior of mechanical systems. Using the LuGre friction model, we reproduced the Stribeck effect as it is expected in real world settings. The components with appropriate stiffness play the role of suspension for spatial mechanical systems with imperfect joints. The vibrations of the flexible components play an active role of intensifying the collision in kinematic joint with clearance.

A Dynamic Model Incorporating Thermal Effect for Piezoelectric Stick-Slip Actuators

2008 ◽  
Author(s):  
J. W. Li ◽  
W. J. Zhang ◽  
Q. S. Zhang ◽  
X. B. Chen ◽  
S. D. Tu
Keyword(s):  
Thermal Effect ◽  
Dynamic Model ◽  
Friction Model ◽  
Significant Rise ◽  
Stick Slip ◽  
Lugre Friction Model ◽  
Identification Approach ◽  
Lugre Friction ◽  
Account Thermal Effect ◽  
Good Agreement

It was found experimentally from our previous study that the operation of the piezoelectric actuator (PEA) and the friction in the piezoelectric stick-slip actuator (PE-SSA) can cause significant rise in temperature, thereby degrading the performance of the actuator. This paper presents a dynamic model for the PE-SSA by taking into account thermal effect. In particular, the dynamic model is developed by integrating the PEA model proposed by Adriaens et al. [1] and the LuGre friction model proposed by De Wit et al. [2]; the parameters involved in the models are determined using a system identification approach. Experiments are carried out to verify the effectiveness of the model. It is shown that the simulation and experimental results are in a good agreement. This study provides a new way to model thermal effect for other micro motion systems.

scholarly journals Nanomanipulation Modeling and Simulation

2006 ◽  
Author(s):  
Yanto Mualim ◽  
Fathi H. Ghorbel ◽  
James B. Dabney
Keyword(s):  
Friction Model ◽  
Stick Slip ◽  
Interaction Forces ◽  
Mathematical Properties ◽  
Lugre Friction Model ◽  
Novel Approach ◽  
Proposed Model ◽  
Lugre Friction ◽  
Physical Phenomena ◽  
Well Posed

A novel approach to better model nanomanipulation of a nanosphere laying on a stage via a pushing scheme is presented. Besides its amenability to nonlinear analysis and simulation, the proposed model is also effective in reproducing experimental behaviors commonly observed during AFM-type nanomanipulation. The proposed nanomanipulation model consists of integrated subsystems that are identified in a modular fashion. The subsystems consistently define the dynamics of the nanomanipulator tip and nanosphere, interaction forces between the tip and the nanosphere, friction between the nanosphere and the stage, and the contact deformation between the nanomanipulator tip and the nanosphere. The main feature of the proposed nanomanipulation model is the Lund-Grenoble (LuGre) dynamic friction model that reliably represents the stick-slip behavior of atomic friction experienced by the nanosphere. The LuGre friction model introduces a new friction state and has desirable mathematical properties making it a well-posed dynamical model that characterizes friction with fidelity. The proposed nanomanipulation model facilitates further improvement and extension of each subsystem to accommodate other physical phenomena that characterize the physics and mechanics of nanomanipulation. Finally, the versatility and effectiveness of the proposed model is simulated and compared to existing models in the literature.

Dynamic simulation of a parallel robot: Coulomb friction and stick–slip in robot joints

Robotica ◽  
2009 ◽  
Vol 28 (1) ◽  
pp. 35-45 ◽  
Author(s):  
Nidal Farhat ◽  
Vicente Mata ◽  
Álvaro Page ◽  
Miguel Díaz-Rodríguez
Keyword(s):  
Dynamic Simulation ◽  
Coulomb Friction ◽  
Parallel Robot ◽  
Friction Model ◽  
Robotic Systems ◽  
Stick Slip ◽  
Integration Interval ◽  
Simulation Process ◽  
Coulomb Friction Model ◽  
And Control

SUMMARYDynamic simulation in robotic systems can be considered as a useful tool not only for the design of both mechanical and control systems, but also for planning the tasks of robotic systems. Usually, the dynamic model suffers from discontinuities in some parts of it, such as the use of Coulomb friction model and the contact problem. These discontinuities could lead to stiff differential equations in the simulation process. In this paper, we present an algorithm that solves the discontinuity problem of the Coulomb friction model without applying any normalization. It consists of the application of an external switch that divides the integration interval into subintervals, the calculation of the friction force in the stick phase, and further improvements that enhance its stability. This algorithm can be implemented directly in the available commercial integration routines with event-detecting capability. Results are shown by a simulation process of a simple 1-DoF oscillator and a 3-DoF parallel robot prototype considering Coulomb friction in its joints. Both simulations show that the stiffness problem has been solved. This algorithm is presented in the form of a flowchart that can be extended to solve other types of discontinuity.

Modeling of a Planar Microrobot Using LuGre Friction Model

2010 ◽  
Author(s):  
M. Khodabakhsh ◽  
G. R. Vossoughi ◽  
A. Kamali
Keyword(s):  
Dynamic Model ◽  
Friction Force ◽  
Coulomb Friction ◽  
Realistic Model ◽  
Friction Model ◽  
Comprehensive Model ◽  
Lugre Friction Model ◽  
Design And Manufacturing ◽  
Lugre Friction ◽  
And Control

Microrobots design and manufacturing has been one of interesting fields in robotics in recent years. Various legged designs have been proposed in the literature. All designs rely on friction for locomotion. In this paper the dynamic model of a planar two-legged microrobot is presented using LuGre friction model. LuGre friction model is more realistic model, reducing uncertainties of the microrobot dynamic model, providing a better prediction for both design and control applications. The proposed microrobot is driven by a piezoelectric actuator mounted between centers of two legs. One of important issues in modeling of microrobots is to determine the friction force between robot and environment. The LuGre friction model which is a more realistic and comprehensive model for friction is used to determine the friction force between legs and horizontal surface. The results of the LuGre friction based model are compared with those of the model which uses the Coulomb friction. This comparison shows effectiveness of using the LuGre friction model in predicting the dynamic behavior in these types of robots.

Friction-Induced Vibrations During Tightening of Bolted Joints: Insights From a Multi-Body Model

2017 ◽  
Author(s):  
Nicolaj Baramsky ◽  
Arthur Seibel ◽  
Josef Schlattmann
Keyword(s):  
Friction Model ◽  
Bolted Joints ◽  
Stick Slip ◽  
Body Model ◽  
Lugre Friction Model ◽  
Element Simulation ◽  
Detailed Simulation ◽  
Lugre Friction ◽  
Slip Frequency ◽  
Multi Body

The tightening process of bolted joints shows a highly dynamic behavior, which depends on numerous factors and can therefore be challenging to be adequately quantitatively reproduced. The presented model solves this problem by combining a multi-body model of the joint with the sophisticated LuGre friction model. This allows for a detailed simulation while simultaneously reducing the computational work in comparison to a standard finite element simulation. We demonstrate that, with a constant tightening angular velocity, the progression of the tightening torque and the preload force can be described by three constants. The model further allows to implement custom torque sources, screw types, and materials to further extend its capabilities. In this contribution, we focus on the basic relationships of acting torques on the joint and friction-induced vibrations during the tightening process. Furthermore, effects of typical geometric and material changes on the stick-slip frequency are demonstrated and discussed.

Studies of Stick-Slip Friction, Presliding Displacement, and Hunting

2000 ◽  
Vol 124 (1) ◽  
pp. 111-117 ◽  
Author(s):  
Ruh-Hua Wu ◽  
Pi-Cheng Tung
Keyword(s):  
Coulomb Friction ◽  
High Speed ◽  
Experimental Studies ◽  
Friction Model ◽  
Smooth Transition ◽  
Stick Slip ◽  
Modified Model ◽  
Cyclic Motion ◽  
Coulomb Friction Model ◽  
The Stability

This paper presents the studies of stick-slip friction, presliding displacement and its influence on hunting. Experimental studies reveal that presliding displacement could affect the stability of hunting. A modified Coulomb friction model integrating presliding displacement in the microsliding regime is proposed to demonstrate such effect. Finally, step responses obtained from experiments and from the modified model are compared. These comparisons yield the conclusion that the transition of friction between the sticking state and the sliding state is smooth and continuous, not abrupt. Such a smooth transition of friction is critical to the studies of systems performing high-speed cyclic motion.

scholarly journals Asymmetric and chaotic responses of dry friction oscillators with different static and kinetic coefficients of friction

Meccanica ◽  
2021 ◽  
Author(s):  
Gábor Csernák ◽  
Gábor Licskó
Keyword(s):  
Dry Friction ◽  
Continuation Method ◽  
Friction Model ◽  
Lugre Friction Model ◽  
Kinetic Coefficients ◽  
Friction Oscillator ◽  
Lugre Friction ◽  
Friction Parameters ◽  
Two Parameter ◽  
Parameter Bifurcation

AbstractThe responses of a simple harmonically excited dry friction oscillator are analysed in the case when the coefficients of static and kinetic coefficients of friction are different. One- and two-parameter bifurcation curves are determined at suitable parameters by continuation method and the largest Lyapunov exponents of the obtained solutions are estimated. It is shown that chaotic solutions can occur in broad parameter domains—even at realistic friction parameters—that are tightly enclosed by well-defined two-parameter bifurcation curves. The performed analysis also reveals that chaotic trajectories are bifurcating from special asymmetric solutions. To check the robustness of the qualitative results, characteristic bifurcation branches of two slightly modified oscillators are also determined: one with a higher harmonic in the excitation, and another one where Coulomb friction is exchanged by a corresponding LuGre friction model. The qualitative agreement of the diagrams supports the validity of the results.

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