This paper presents an effective method for developing dynamic equations which realistically model dynamics of multibody mechanical systems with stiction, or stick-slip friction. This method is used in three examples—a mass-spring system, a top, and a robot linkage—to illustrate the facility with which the method is implemented. The method dynamically partitions sets of dynamic equations to model a system through discontinuities, changes in degrees of freedom and changes in states. Comparisons of this method with others is presented for simple and complex systems.
Issue Section:
Technical Briefs
1.
Den Hartog, J. P., 1931, “Forced Vibrations With Combined Coulomb and Viscous Friction,” Trans. ASME.
2.
Haessig
D. A.
Friedland
B.
1991
, “On the Modeling and Simulation of Friction
,” ASME JOURNAL OF DYNAMRC SYSTEMS, MEASUREMENT, AND CONTROL
, Vol. 113
, pp. 354
–362
.3.
Kane
T. R.
Levinson
D. A.
1978
, “A Realistic Solution of the Symmetric Top Problem
,” ASME Journal of Applied Mechanics
, Vol. 45
, Dec. 1978, pp. 903
–909
.4.
Karnopp
D.
Computer Simulation of Stick-Slip Friction in Mechanical Dynamic Systems
,” Transactions of the ASME
, Vol. 107
, Mar. 1987
, pp. 100
–103
.5.
Yang
S.
Tomizuka
M.
1988
, “Adaptive Pulse Width Control for Precise Positioning Under the Influence of Stiction and Coulomb Friction
,” ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL
, Vol. 110
, pp. 221
–227
.6.
Radcliffe, C. J., and Southward, S. C., 1990, “A Property of Stick-Slip Friction Models which Promotes Limit Cycle Generation,” 1990 American Control Conference, Vol. 2, May 1990, pp. 1097–1102.
7.
Shaw
S.
1986
, “On the Dynamic Response of a System with Dry Friction
,” Journal of Sound and Vibration
, Vol. 108
(2
), pp. 305
–325
.8.
Dahl, P. R., 1985, “Math Model of Hysteresis in Piezo-Electric Actuators for Precision Pointing System,” Proceedings of the 8th Annual Rocky Mountain Conference, Co., Feb. 1985, pp. 61–88.
9.
Jabbari, A., Tomizuka, M., and Sakaguchi, T., 1990, “Robust Nonlinear Control of Positioning Systems with Stiction,” 1990 American Control Conference, Vol. 2, May 1990, pp. 1097–1102
10.
van Mulken, A. C. M., 1988, “Breadboard Test-Software and Wrist Joint Modeling for Hermes Robot Arm,” Thesis, Eindhoven University of Technology.
11.
Schempf, H., 1990, “Comparative Design, Modeling, and Control Analysis of Robotic Transmissions,” Ph.D. thesis, Woods Hole Oceanographic Inst. and Mass. Inst. of Tech.
12.
Souza, P. N., and Fleury, A. T., 1987, “Modelo Experimental de Uma Roda de Reacao Para Controle da Attitude de Satelites Artificials: Construcao, Simulacao e Testes,” 9th Brazilian Congress of Mechanical Engineering, Dec. 1987.
13.
Synnestvedt, R. G., 1992, “Modeling Stiction in Multibody Dynamic Systems: An Efficient and Accurate Method,” Advances in Robotics-Proceedings of the Winter Annual Meeting of the American Society of Mechanical Engineers, Nov. 1992, pp. 201–206.
14.
Tilley, S. W., Colin, M. F., Emerick, K., and Hollars, G., 1990, “Preliminary Results on Noncollocated Torque Control of Space Robot Actuators,” Proceedings of the NASA Conference on Space Telerobotics, Vol. 2, pp. 143–152.
15.
Proceedings of the American Control Conference, pp. 1905–1946, San Francisco, California, June 1993.
16.
Kane, T. R., and Levinson, D. A., 1985, Dynamics: Theory and Applications, McGraw-Hill, New York.
17.
Craig, J. J., 1986, Introduction to Robotics, Addison Wesley, Reading, MA.
This content is only available via PDF.
Copyright © 1996
by The American Society of Mechanical Engineers
You do not currently have access to this content.
