Measurements of Forces Between a Synchronous Belt and a Pulley

2000 ◽  
Author(s):  
Martin Distner ◽  
Tomas Johannesson
Keyword(s):  
Load Distribution ◽  
Contact Forces ◽  
Automotive Application ◽  
Friction Forces ◽  
Running Time ◽  
Application Range ◽  
Normal Forces ◽  
Belt Speed ◽  
Pitch Difference ◽  
Static Conditions

Abstract In modern belt profiles, power is transmitted by both normal forces and friction forces. To control the load distribution between a belt and a pulley, avoiding power circulation and local tooth load peaks, it is necessary to take into account both types of forces. An analytical model for the load distribution has previously been presented by the authors. This work also introduces the effective pitch difference, EPD, which is the actual pitch difference between a pulley and a loaded belt. To examine these matters and verify the model, a series of 270 experiments was carried out in a two-pulley test rig. Parameters investigated are: torque, tension, belt speed, pitch difference and running time. All of the measurements were conducted under quasi-static conditions. The equipment used included a specially designed measurement pulley that can measure four different engagement forces. Experiments show that belt speed within automotive application range has no effect on load distribution, apart from engagement and disengagement peaks. Tooth flank normal forces and land area friction forces often work against each other. Belts with dissimilar pitch difference give rise to great differences in load distributions. Even a short running time causes a redistribution of the friction forces, although their sum remains constant. The results show that it is possible to tailor the load distribution by adjusting the EPD. This offers an opportunity to avoid power circulation and unnecessary high contact forces. Changing the EPD for the correct load distribution at each interaction is easily achieved by individual adjustment of the pulley radius.

scholarly journals Slipping–rolling transitions of a body with two contact points

2021 ◽  
Author(s):  
Mate Antali ◽  
Gabor Stepan
Keyword(s):  
Rigid Body ◽  
Contact Point ◽  
Static Friction ◽  
Rigid Body Dynamics ◽  
Contact Forces ◽  
Friction Forces ◽  
Contact Points ◽  
Body Dynamics ◽  
Coulomb Model ◽  
Rigid Surfaces

AbstractIn this paper, the general kinematics and dynamics of a rigid body is analysed, which is in contact with two rigid surfaces in the presence of dry friction. Due to the rolling or slipping state at each contact point, four kinematic scenarios occur. In the two-point rolling case, the contact forces are undetermined; consequently, the condition of the static friction forces cannot be checked from the Coulomb model to decide whether two-point rolling is possible. However, this issue can be resolved within the scope of rigid body dynamics by analysing the nonsmooth vector field of the system at the possible transitions between slipping and rolling. Based on the concept of limit directions of codimension-2 discontinuities, a method is presented to determine the conditions when the two-point rolling is realizable without slipping.

Flexure based gripper to grasp hollow objects by internal surface interaction

2021 ◽  
pp. 095440622110498
Author(s):  
Rajesh Kumar ◽  
Harsh Yadav ◽  
Varan Gupta ◽  
Jitendra P Khatait
Keyword(s):  
Internal Surface ◽  
Surface Interaction ◽  
Design Development ◽  
Friction Forces ◽  
Normal Forces ◽  
Inner Surface

The paper focuses on the design, development, and evaluation of a gripper intended to hold hollow objects by interacting with the inner surface. The gripper moves towards the inside of the hollow object and grips it using the friction forces applied on the surface of the object. The design also ensures the application of variable normal forces on the surface of the object to be grasped. The mathematical architecture is verified using prototypes and experiments.

Control of Grasp Stability in Humans Under Different Frictional Conditions During Multidigit Manipulation

1999 ◽  
Vol 82 (5) ◽  
pp. 2393-2405 ◽  
Author(s):  
Magnus K. O. Burstedt ◽  
J. Randall Flanagan ◽  
Roland S. Johansson
Keyword(s):  
Load Distribution ◽  
Safety Margin ◽  
Middle Finger ◽  
The Other ◽  
Surface Material ◽  
Tangential Load ◽  
Normal Forces ◽  
Grasp Stability ◽  
Contact Surfaces ◽  
Lift Off

Control of grasp stability under different frictional conditions has primarily been studied in manipulatory tasks involving two digits only. Recently we found that many of the principles for control of forces originally demonstrated for two-digit grasping also apply to various three-digit grasps. Here we examine the control of grasp stability in a multidigit task in which subjects used the tips of the thumb, index, and middle finger to lift an object. The grasp resembled those used when lifting a cylindrical object from above. The digits either all contacted the same surface material or one of the digits contacted a surface material that was more, or less, slippery than that contacted by the other two digits. The three-dimensional forces and torques applied by each digit and the contact positions were measured along with the position and orientation of the object. The distribution of forces among the digits strongly reflected constraints imposed by the geometric relationship between the object's center of mass and the contact surfaces. On top of this distribution, we observed changes in force coordination related to changes in the combination of surface materials. When all digits contacted the same surface material, the ratio between the normal force and tangential load ( F n: L ratio) was similar across digits and scaled to provide an adequate safety margin against slip. With different contact surfaces subjects adapted the F n: L ratios at the individual digits to the local friction with only small influences by the friction at the other two digits. They accomplished this by scaling the normal forces similarly at all digits and changing the distribution of load among the digits. The surface combination did not, however, influence digit position, tangential torque, or object tilting systematically. The change in load distribution, rather, resulted from interplay between these factors, and the nature of this interplay varied between trials. That is, subjects achieved grasp stability with various combinations of fingertip actions and appeared to exploit the many degrees of freedom offered by the multidigit grasp. The results extend previous findings based on two-digit tasks to multidigit tasks by showing that subjects adjust fingertip forces at each digit to the local friction. Moreover, our findings suggest that subjects adapted the load distribution to the current frictional condition by regulating the normal forces to allow slips to occur early in the lift task, prior to object lift-off.

Design of Measure and Control System of the Ring Block Casing Wear Tester

2013 ◽  
Vol 423-426 ◽  
pp. 2414-2418
Author(s):  
Xiang Tong Yang ◽  
Xiao Zeng Wang ◽  
Yin Ping Cao ◽  
Yi Hua Dou
Keyword(s):  
Control System ◽  
Calibration Method ◽  
Contact Forces ◽  
Wear Depth ◽  
Friction Forces ◽  
Deep Wells ◽  
Geological Conditions ◽  
Casing Wear ◽  
Measure And Control System ◽  
And Control

In deep wells and ultra-deep wells the complex geological conditions often result in serious casing wear. In order to obtain the wear efficiency which is used to compute the wear depth of downhole casing, the ring block drillpipe casing wear tester is developed. The measure and control system which include the measure circuits of contact forces between casing and drillpipe samples, the measure circuits of the friction forces are main component of wear tester. It is very important to design the measure and control system of tester. The paper also develops the calibration method of the loads sensors used to measure the contact and friction force. The wear tester can accurately measure the wear efficiency and the friction coefficient needed by casing wear prediction.

On a Perturbation Method for the Analysis of Unsteady Belt-Drive Operation

2004 ◽  
Vol 72 (4) ◽  
pp. 570-580 ◽  
Author(s):  
Michael J. Leamy
Keyword(s):  
Finite Element ◽  
Finite Element Model ◽  
Perturbation Method ◽  
Element Model ◽  
Contact Forces ◽  
Steady Solution ◽  
Belt Drive ◽  
Friction Forces ◽  
Direct Contrast ◽  
Validity Criteria

A perturbation method is presented for use in analyzing unsteady belt-drive operation. The method relies on the important assumption that for operating states close to steady operation, the friction state (i.e., whether the belt is creeping or sticking at any location on the pulley) is similar to that of the well-known steady solution in which a lone stick arc precedes a lone slip arc (Johnson, K. L., 1985, Contact Mechanics, Cambridge U.P., London, Chap. 8; Smith, D. P., 1999, Tribol. Int., 31(8), pp. 465–477). This assumption, however, is not used to determine the friction force distribution, and, in fact, the friction forces in the stick zone are found to be nonzero, in direct contrast to the steady solution. The perturbation analysis is used to derive expressions for the span tensions, the pulley tension distributions, the contact forces between the belt and the pulleys, and the angular velocity of the driven pulleys. Validity criteria are developed which determine bounds on the operation state for which the assumed friction state is upheld. Verification of response quantities from the perturbation solution is accomplished through comparison to quantities predicted by an in-house dynamic finite element model and excellent agreement is found. Additionally, the finite element model is used to verify the key assumption that a lone slip arc precedes a lone stick arc.

Multibody Approach for Model-Based Fault Detection of a Reel

2005 ◽  
Vol 1 (2) ◽  
pp. 116-122
Author(s):  
Pasi Korkealaakso ◽  
Asko Rouvinen ◽  
Aki Mikkola
Keyword(s):  
Fault Detection ◽  
Augmented Lagrangian Method ◽  
Contact Forces ◽  
Simulation Approach ◽  
Multibody Simulation ◽  
Friction Forces ◽  
Model Based ◽  
Time Simulation ◽  
Method Of Lagrange Multipliers ◽  
Signal Processing Methods

In order to improve the recognition of faulty situations, model-based fault detection can be used together with signal processing methods. In this study, faults and abnormalities of a reel are studied by employing the multibody simulation approach. The reel under consideration consists of a number of subsystems, including hydraulics, electrical drives, and mechanical parts. These subsystems are coupled by joints, friction forces, and contact forces. Using the multibody simulation approach, the complete model of the reel can be obtained by coupling different subsystems together. Three well-known multibody formulations, a method of Lagrange multipliers, an Augmented Lagrangian method, and a method based on projection matrix R, are briefly described and compared in order to find out the most efficient method for simulating the studied reel. Although this study is focused on the simulation of fault scenarios, the introduced multibody simulation approach can be utilized in real-time simulation. This makes it possible to apply the model to an existing reel.

Analytical Formulation of Friction Interface Elements for Analysis of Nonlinear Multi-Harmonic Vibrations of Bladed Disks

2003 ◽  
Vol 125 (2) ◽  
pp. 364-371 ◽  
Author(s):  
E. P. Petrov ◽  
D. J. Ewins
Keyword(s):  
Stiffness Matrix ◽  
Normal Force ◽  
Contact Forces ◽  
Contact Interface ◽  
Bladed Disks ◽  
Interface Elements ◽  
Friction Forces ◽  
Analytical Formulation ◽  
Harmonic Vibrations ◽  
Speed Accuracy

An analytical formulation for the vectors of contact forces and the stiffness matrix of the nonlinear friction contact interface is developed for the analysis of multi-harmonic vibrations in the frequency domain. The contact interface elements provided here an exact description of friction and unilateral contact forces at the interacting surfaces, taking into account the influence of the variable normal load on the friction forces, including the extreme cases of separation of the two surfaces. Initial gaps and interferences at the contact nodes, which affect the normal force, as well as the unilateral action of the normal force at the contact surface, are all included in the model. The accurate calculation of the force vector and the tangent stiffness matrix provides a very reliable and fast convergence of the iteration process used in the search for the amplitudes of nonlinear vibrations of bladed disks. Numerical investigations demonstrate excellent performance with respect to speed, accuracy and stability of computation.

Modeling the Effect of Surface Roughness on the Adhesion, Contact and Friction in Micro-Electro-Mechanical Systems (MEMS) Interfaces

2003 ◽  
Author(s):  
Noureddine Tayebi ◽  
Andreas A. Polycarpou
Keyword(s):  
Surface Texturing ◽  
Static Friction ◽  
Normal Operation ◽  
Root Mean Square Roughness ◽  
Adhesion Forces ◽  
Sensors And Actuators ◽  
Micro Electro Mechanical Systems ◽  
Friction Forces ◽  
Normal Forces ◽  
Adhesion Contact

It has been experimentally shown that surface texturing (roughening) decreases the effect of intermolecular adhesion forces that are significant in MEMS applications. These forces can hinder normal operation of sensors and actuators as well as micro-engines where they might increase friction, which could be catastrophic. In this paper, a model that predicts the effects of roughness, asymmetry, and flatness on the adhesion, contact, and friction forces in MEMS interfaces is presented. The three key parameters used to characterize the roughness the asymmetry and the flatness of a surface topography are the root-mean-square roughness (RMS), skewness and kurtosis, respectively. It is predicted that surfaces with high RMS, high kurtosis and positive skewness exhibit lower adhesion and static friction coefficient, even at extremely low external normal forces.

Kinematics for unilateral constraints in multibody dynamics

2016 ◽  
Vol 22 (8) ◽  
pp. 1654-1687
Author(s):  
P Lidström
Keyword(s):  
Multibody Dynamics ◽  
Distance Function ◽  
Contact Surface ◽  
Equations Of Motion ◽  
Time Derivative ◽  
Unilateral Constraint ◽  
Contact Forces ◽  
Unilateral Constraints ◽  
Constraint Forces ◽  
Friction Forces

This paper is concerned with the kinematics of unilateral constraints in multibody dynamics. These constraints are related to the contact between parts and the principle of impenetrability of matter and have the property that they may be active, in which case they give rise to constraint forces, or passive, in which case they do not give rise to constraint forces. In order to check whether the constraint is active or passive a distance function between parts of the multibody is required. The paper gives a rigorous definition of the distance function and derives certain of its properties. The unilateral constraint may then be expressed in terms of this distance function. The paper analyses the transitions from passive constraints to active and vice versa. Sufficient regularity of the transplacements of the parts and their boundary surfaces will lead to specific properties of the time derivative of the distance function. When the unilateral constraint is active then the parts are geometrically in contact and there is a certain contact surface that, in specific cases, may degenerate into a point. If the parts are in mechanical contact over the contact surface then there will be an interaction between the parts given by contact forces, such as normal and friction forces. Parts in contact may be at rest relative to one another, over the contact surface, or they may be in relative sliding motion. The transition from non-sliding contact to sliding and from sliding to non-sliding is discussed and necessary conditions on the relative velocity and the traction vector are derived. Appropriate complementary conditions are then formulated. These are instrumental when the technique of linear complementarity is used in order to find solutions to the equations of motion.

Design of Four Contact-Point Slewing Bearing With a New Load Distribution Procedure to Account for Structural Stiffness

2010 ◽  
Vol 132 (2) ◽  
Author(s):  
Mireia Olave ◽  
Xabier Sagartzazu ◽  
Jorge Damian ◽  
Alberto Serna
Keyword(s):  
Load Distribution ◽  
Contact Point ◽  
Element Model ◽  
Contact Forces ◽  
Elastic Model ◽  
Slewing Bearing ◽  
Extreme Loads ◽  
Highly Nonlinear ◽  
Rolling Elements ◽  
Bearing Rings

This paper proposes a procedure for obtaining the load distribution in a four contact-point slewing bearing considering the effect of the structure’s elasticity. The uneven stiffness of the rings and the supporting structures creates a variation with respect to the results obtained with a rigid model. It is necessary to evaluate the effect of the elasticity on the increase in the contact forces in order to be able to design the slewing bearing and the structures involved in the connection. Depending on the shape of the structures, the contact force value obtained on the most loaded rolling element is different. The evaluation of this maximum force at extreme loads is essential to design the structures joined to the bearing rings. The new elastic model presented in this paper is highly nonlinear so iterative loops are needed in order to obtain a satisfactory solution. At the same time a finite element model (FEM) has been created for the global model, having also represented the rolling elements and their contact with the raceways. The results obtained using the FEM have been correlated with the results of the new procedure.

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