NDLI: Modeling of static friction in closed-loop kinematic chains—Uniqueness and parametric sensitivity problems

Content Provider	Springer Nature Link
Author	Wojtyra, Marek
Copyright Year	2016
Abstract	Problems with uniqueness and high parametric sensitivity of the solution of equations of motion, encountered in the static friction regime, are addressed. Friction in joints of a multibody system with closed-loop kinematic chains is discussed. Three different models of friction are studied: the discontinuous Coulomb model with stiction regime represented in terms of additional constraints; the approximate Coulomb model, smoothed in the vicinity of zero relative velocity; and the LuGre model with presliding displacements represented in terms of auxiliary state variables. Firstly, a rigid body model is investigated. It is shown that in the case of constraint addition approach, problems with uniqueness of solution emerge in the static friction regime. In the case of continuous models of friction, the solution in the stiction regime and its vicinity is highly sensitive to some hardly measurable or arbitrarily chosen parameters of the model of friction. Origins of nonuniqueness and high sensitivity are investigated, and the questionable credibility of the stiction regime simulation results is discussed. Secondly, a simplified model of body and joint elasticity is introduced to investigate the impact of flexibility on the mechanism frictional behavior. It is shown that taking the flexibility into consideration may eliminate the uniqueness and sensitivity problems. Moreover, the quantities that represent flexibility may be regarded as the key factors influencing the results of stiction regime simulation. Five examples are provided to illustrate the presented considerations.
Starting Page	337
Ending Page	361
Page Count	25
File Format	PDF
ISSN	13845640
Journal	Multibody System Dynamics
Volume Number	39
Issue Number	4
e-ISSN	1573272X
Language	English
Publisher	Springer Netherlands
Publisher Date	2016-09-15
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Joint friction Coulomb model LuGre model Solution uniqueness Vibration, Dynamical Systems, Control Optimization Electrical Engineering Mechanical Engineering Automotive Engineering
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Mechanical Engineering Aerospace Engineering Modeling and Simulation Computer Science Applications

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