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.

Identification of Wear Coefficient in Archard Model Based on LuGre Friction Model

2011 ◽  
Vol 343-344 ◽  
pp. 28-32
Author(s):  
Xu Zeng ◽  
Shu Guang Zuo ◽  
Xu Dong Wu
Keyword(s):  
Parameter Identification ◽  
Dynamic Model ◽  
Friction Model ◽  
Road Surface ◽  
Computational Method ◽  
Wear Coefficient ◽  
Experiment Data ◽  
Lugre Friction Model ◽  
Tire Wear ◽  
Lugre Friction

Considering the mechanism interaction between the tire tread and road surface, a dynamic model is established based on LuGre friction model in this paper. The parameter identification of wear coefficient in Archard model is proceeded by simulation in accordance with the experiment data in the correlative references based on the computational method of abrasion loss in Archard model. The results show that this model can fit the experiment data well, provide a theoretic instruction to fulfill the tire wear prediction and lay the foundation of further research in this field.

scholarly journals Advancing Control for Shield Tunneling Machine by Backstepping Design with LuGre Friction Model

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Haibo Xie ◽  
Zhibin Liu ◽  
Huayong Yang
Keyword(s):  
Friction Force ◽  
Earth Pressure ◽  
Friction Model ◽  
Front Face ◽  
Backstepping Design ◽  
Shield Tunneling ◽  
Shield Tunneling Machine ◽  
Lugre Friction Model ◽  
Tunneling Machine ◽  
Lugre Friction

Shield tunneling machine is widely applied for underground tunnel construction. The shield machine is a complex machine with large momentum and ultralow advancing speed. The working condition underground is rather complicated and unpredictable, and brings big trouble in controlling the advancing speed. This paper focused on the advancing motion control on desired tunnel axis. A three-state dynamic model was established with considering unknown front face earth pressure force and unknown friction force. LuGre friction model was introduced to describe the friction force. Backstepping design was then proposed to make tracking error converge to zero. To have a comparison study, controller without LuGre model was designed. Tracking simulations of speed regulations and simulations when front face earth pressure changed were carried out to show the transient performances of the proposed controller. The results indicated that the controller had good tracking performance even under changing geological conditions. Experiments of speed regulations were carried out to have validations of the controllers.

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.

Modeling and Control Design for a Wheeled Mobile Platform

2013 ◽  
Author(s):  
Byungchan Jung ◽  
Henryk Flashner ◽  
Jill McNitt-Gray
Keyword(s):  
Static Friction ◽  
Friction Model ◽  
Control Law ◽  
Modeling And Control ◽  
Lugre Friction Model ◽  
Backstepping Approach ◽  
Tracking Controllers ◽  
Friction Models ◽  
Lugre Friction ◽  
And Control

A model of a wheeled platform that includes slipping is formulated. Slipping is modeled by adopting the LuGre friction model. This is a dynamic friction model that can reproduce realistic friction phenomena not present in static friction models. Using the backstepping approach, tracking controllers for non-slipping and slipping cases are developed and compared via simulation. The proposed control law is designed to be robust with respect to the change in system parameters such as the platform’s mass and moment inertia. Simulation results show good performance for point stabilization in specific destination postures, as well as for tracking.

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.

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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