A 2D Bristle Friction Force Model for Contact Dynamics Simulation

2009 ◽  
Author(s):  
Ou Ma ◽  
Jianxun Liang ◽  
Steven Fillmore
Keyword(s):  
Contact Point ◽  
Friction Model ◽  
Contact Dynamics ◽  
Dynamics Simulation ◽  
Contact Friction ◽  
Force Model ◽  
Tangential Plane ◽  
Friction Forces ◽  
Body Contact ◽  
Frictional Behavior

This paper describes a 2D bristle contact friction model which is capable of modeling and simulating frictional behavior in both sliding and sticking regimes occurring in general 3D rigid-body contact. The model extends the 1D integrated bristle friction model to a 2D space by allowing the “bristle spring” to not only stretch along the direction of the relative velocity but also rotate due to the direction change of the velocity or motion trend in the common tangential plane of the contacting surfaces involved at the contact point of interest. With such an extension, the resulting friction model can be readily used to compute 3D contact friction forces in both sticking and sliding regimes for a general 3D contact dynamics model working with a multibody dynamics simulation application. Several simulation examples are provided to demonstrate the effectiveness of the model for predicting the experimentally seen frictional behavior such as sticking, stickslip, and sliding.

Experimental Validation of a 2D Bristle Friction Force Model

2010 ◽  
Author(s):  
Steven Fillmore ◽  
Jianxun Liang ◽  
Ou Ma
Keyword(s):  
Friction Model ◽  
Contact Friction ◽  
Force Model ◽  
Tangential Plane ◽  
Stick Slip ◽  
Friction Forces ◽  
Body Contact ◽  
Point Of Interest ◽  
Experimental Effort ◽  
Sliding Regimes

This paper describes an experimental effort designed to validate a general 2D bristle contact friction model. The model extends the 1D integrated bristle friction model to a 2D space by allowing the “bristle spring” to not only stretch along the direction of the bristle displacement but also rotate due to the instantaneous direction change of the velocity or motion trend in the common tangential plane of the contacting surfaces involved at the point of interest. The model is capable of simulating frictional behaviour in both sliding and sticking regimes occurring in general 3D rigid-body contact. With such an extension, the resulting friction model can be readily used to compute 3D contact friction forces in both sticking and sliding regimes. Two experiments were designed and implemented to validate the new 2D bristle model. The experiments were able to passively produce common frictional phenomena such as sliding, sticking, and stick-slip.

A Contact Force Solution for Non-Colliding Contact Dynamics Simulation

2006 ◽  
Author(s):  
Inna Sharf ◽  
Yuning Zhang
Keyword(s):  
Rigid Body ◽  
Contact Force ◽  
Contact Point ◽  
Closed Form Solution ◽  
Rigid Body Dynamics ◽  
Contact Forces ◽  
Contact Dynamics ◽  
Dynamics Simulation ◽  
Friction Forces ◽  
Contact Points

Rigid-body impact modeling remains an intensive area of research spurred on by new applications in robotics, biomechanics, and more generally multibody systems. By contrast, the modeling of non-colliding contact dynamics has attracted significantly less attention. The existing approaches to solve non-colliding contact problems include compliant approaches in which the contact force between objects is defined explicitly as a function of local deformation, and complementarity formulations in which unilateral constraints are employed to compute contact interactions (impulses or forces) to enforce the impenetrability of the contacting objects. In this article, the authors develop a novel approach to solve the non-colliding contact problem for objects of arbitrary geometry in contact at multiple points. Similarly to the complementarity formulation, the solution is based on rigid-body dynamics and enforces contact kinematics constraints at the acceleration level. Differently, it leads to an explicit closed-form solution for the normal forces at the contact points. Integral to the proposed formulation is the treatment of tangential contact forces, in particular the static friction. These friction forces must be calculated as a function of microslip velocity or displacement at the contact point. Numerical results are presented for three test cases: 1) a thin rod sliding down a stationary wedge; 2) a cube rotating off the stationary wedge under application of an external moment and 3) the cube and the wedge both moving under application of a moment. To ascertain validity and correctness, the solutions to frictionless and frictional scenarios obtained with the proposed formulation are compared to those generated by using a commercial simulation tool MSC ADAMS.

Investigation on Dynamic Responses of Manipulator with Multiple Clearance Joints

2012 ◽  
Vol 251 ◽  
pp. 152-157
Author(s):  
Zheng Feng Bai ◽  
Xing Gui Wang ◽  
Yang Zhao
Keyword(s):  
Dynamic Performance ◽  
Friction Model ◽  
Contact Dynamics ◽  
Dynamic Responses ◽  
Dynamics Simulation ◽  
Force Model ◽  
Clearance Joints ◽  
The Real ◽  
Continuous Contact ◽  
Coulomb Friction Model

The existence of clearance in joints of manipulator system is inevitable and the movements of the real manipulator are deflection from the ideal manipulator for the clearances. In this study, the effects of clearance on dynamic responses of real manipulator system with multiple clearance joints are investigated using a computational methodology. By applying the nonlinear continuous contact force model, the contact dynamics model in joint clearance is established and the friction effect is considered with the help of Coulomb friction model. Then the dynamics simulation is carried out and the dynamic characteristics of manipulator system with multiple clearance joints are investigated. The results show that the clearance leads to degradation of dynamic performance of the real manipulator system.

scholarly journals An Efficient Contact Model for the Simulation of Cargo Airdrop Extraction Phase

2018 ◽  
Vol 2018 ◽  
pp. 1-13
Author(s):  
Leiming Ning ◽  
Jichang Chen ◽  
Mingbo Tong
Keyword(s):  
Degrees Of Freedom ◽  
Friction Model ◽  
Rigid Bodies ◽  
Contact Dynamics ◽  
Moving Frame ◽  
Contact Friction ◽  
Practical Implementation ◽  
Contact Formulation ◽  
Efficient Code ◽  
Extraction Phase

A high-fidelity cargo airdrop simulation requires the accurate modeling of the contact dynamics between an aircraft and its cargo. This paper presents a general and efficient contact-friction model for the simulation of aircraft-cargo coupling dynamics during an airdrop extraction phase. The proposed approach has the same essence as the finite element node-to-segment contact formulation, which leads to a flexible, straightforward, and efficient code implementation. The formulation is developed under an arbitrary moving frame with both aircraft and cargo treated as general six degrees-of-freedom rigid bodies, thus eliminating the restrictions of lateral symmetric assumptions in most existing methods. Moreover, the aircraft-cargo coupling algorithm is discussed in detail, and some practical implementation details are presented. The accuracy and capability of the present method are demonstrated through four numerical examples with increasing complexity and fidelity.

Pavement Friction Modeling using Texture Measurements and Pendulum Skid Tester

2018 ◽  
Vol 2672 (40) ◽  
pp. 440-451 ◽  
Author(s):  
Ahmad Alhasan ◽  
Omar Smadi ◽  
Georges Bou-Saab ◽  
Nacu Hernandez ◽  
Eric Cochran
Keyword(s):  
Surface Texture ◽  
Friction Model ◽  
Operating Conditions ◽  
Friction Modeling ◽  
Friction Forces ◽  
Frictional Behavior ◽  
Kinetic Coefficients ◽  
Friction Measurements ◽  
The Impact ◽  
Pavement Friction

Pavement frictional behavior affects pavement performance in terms of vehicle safety, fuel consumption, and tire wear. Comprehending and interpreting pavement friction measurements is a challenging task, because of friction sensitivity to several uncontrollable factors. These factors include: pavement surface conditions, such as the type and thickness of contaminants and fluids on the surface and their interaction with friction forces; and the device operating conditions, such as sliding speed, material properties and geometry of the rubber slider used, and operating temperature. Despite the efforts to describe and quantify the impact of varying conditions on pavement friction, which ultimately will allow for a better harmonization of friction measurements, there is a need to better understand the link between the surface texture and physical friction measurements. In this paper, Persson’s friction model is used to analyze and understand the impact of surface texture on frictional behavior of dry pavement surfaces. The model was used to analyze 18 test locations, which were compared with the dry kinetic coefficients of friction (COF) estimated using a British pendulum tester (BPT). The results show that Persson’s friction model could predict the COF estimated from the BPT results with relatively high accuracy. In addition, the model could provide a profound explanation of the frictional forces mechanism. Finally, it was found that the mean profile depth (MPD) cannot provide a full picture of the frictional behavior. However, combining MPD with the Hurst exponent, texture measurements can potentially provide a full physical explanation of the frictional behavior for road surfaces.

Validation of Friction Model Parameters Identified Using the Inverse Harmonic Balance Method

2015 ◽  
Author(s):  
Abdallah Hadji ◽  
Njuki Mureithi
Keyword(s):  
Friction Force ◽  
Harmonic Balance ◽  
Contact Point ◽  
Harmonic Balance Method ◽  
Friction Model ◽  
Balance Method ◽  
Model Parameters ◽  
Intermediate Step ◽  
Friction Forces ◽  
Friction Models

A hybrid friction model was recently developed by Azizian and Mureithi [1] to simulate the friction behavior of tube-support interaction. However, identification of the model parameters remains unresolved. In previous work, the friction model parameters were identified using reverse the harmonic method, where the following quantities were indirectly obtained by measuring the vibration response of a beam: friction force, sliding speed of the force of impact and local displacement at the contact point. In the present work, the simulation by the finite element method (FEM) of a beam clamped at one end and simply supported with the consideration of friction effect at the other is conducted. This beam is used to validate the inverse harmonic balance method and the parameters of the friction models identified previously. Two static friction models (the Coulomb model and Stribeck model) are tested. The two models produce friction forces of the correct order of magnitude compared to the friction force calculated using the inverse harmonic balance method. However, the models cannot accurately reproduce the beam response; the Stribeck friction model is shown to give the response closer to experiments. The results demonstrate some of the challenges associated with accurate friction model parameter identification using the inverse harmonic balance method. The present work is an intermediate step toward identification of the hybrid friction model parameters and, longer term, improved analysis of tube-support dynamic behavior under the influence of friction.

Multi Rigid-Body Contact Dynamics With Regularized Friction

2015 ◽  
Author(s):  
Farnood Gholami ◽  
Mostafa Nasri ◽  
József Kövecses
Keyword(s):  
Linear Complementarity Problem ◽  
Complementarity Problem ◽  
Mathematical Formulation ◽  
Contact Problems ◽  
Linear Complementarity ◽  
Contact Dynamics ◽  
Friction Forces ◽  
Body Contact ◽  
Normal Forces ◽  
Multibody Contact

A novel mathematical formulation in terms of a linear complementarity problem is introduced for multibody contact problems. In this approach, contacts are characterized based on kinematic constraints while the friction forces are simultaneously regularized and incorporated into the formulation. The variables of the resulting linear complementarity problem are only the normal forces. The main advantage of this formulation is a significant dimension reduction in the resulting linear complementarity problem in comparison with its counterpart formulations in the literature. Moreover, the dimension can be even further reduced by removing the velocity variables from the formulation. The proposed formulation is examined for benchmark examples yielding promising results.

Multi-Body Contact Dynamics Analysis of Angular Contact Ball Bearing

2013 ◽  
Vol 444-445 ◽  
pp. 45-49
Author(s):  
Kun Feng Jin ◽  
Ting Qiang Yao
Keyword(s):  
Simulation Model ◽  
Model Simulation ◽  
Engineering Application ◽  
Dynamic Contact ◽  
Contact Dynamics ◽  
Dynamics Simulation ◽  
Contact Theory ◽  
Angular Contact Ball Bearing ◽  
Body Contact ◽  
Multi Body

The 3-D multi-body contact dynamics simulation model was built by ADAMS base on the Hertz contact theory and multi-body contact dynamics, which considered the dynamics relationship among the ball, ring and cage of the bearing. Considering the clearancesfrictions and loads, results that contained deformation and displacement of the bearing, trajectory of the CM of the cage and the dynamic contact force were obtained by means of the 3-D multi-body contact dynamics model simulation and statics calculation. The outcomes got from two different methods are consistent, so the 3-D multi-body contact dynamics simulation model has the positive significance on dynamic design and engineering application of the bearing.

Validation of Nonlinear Viscoelastic Contact Force Models for Low Speed Impact

2009 ◽  
Vol 76 (5) ◽  
Author(s):  
Yuning Zhang ◽  
Inna Sharf
Keyword(s):  
Contact Force ◽  
Nonlinear Damping ◽  
Coefficient Of Restitution ◽  
Contact Dynamics ◽  
Dynamics Simulation ◽  
Damping Coefficient ◽  
Force Model ◽  
Nonlinear Viscoelastic ◽  
The Impact ◽  
Viscoelastic Contact

Compliant contact force modeling has become a popular approach for contact and impact dynamics simulation of multibody systems. In this area, the nonlinear viscoelastic contact force model developed by Hunt and Crossley (1975, “Coefficient of Restitution Interpreted as Damping in Vibroimpact,” ASME J. Appl. Mech., 42, pp. 440–445) over 2 decades ago has become a trademark with applications of the model ranging from intermittent dynamics of mechanisms to engagement dynamics of helicopter rotors and implementations in commercial multibody dynamics simulators. The distinguishing feature of this model is that it employs a nonlinear damping term to model the energy dissipation during contact, where the damping coefficient is related to the coefficient of restitution. Since its conception, the model prompted several investigations on how to evaluate the damping coefficient, in turn resulting in several variations on the original Hunt–Crossley model. In this paper, the authors aim to experimentally validate the Hunt–Crossley type of contact force models and furthermore to compare the experimental results to the model predictions obtained with different values of the damping coefficient. This paper reports our findings from the sphere to flat impact experiments, conducted for a range of initial impacting velocities using a pendulum test rig. The unique features of this investigation are that the impact forces are deduced from the acceleration measurements of the impacting body, and the experiments are conducted with specimens of different yield strengths. The experimental forces are compared with those predicted from the contact dynamics simulation of the experimental scenario. The experiments, in addition to generating novel impact measurements, provide a number of insights into both the study of impact and the impact response.

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