A novel nonsmooth approach for flexible multibody systems with contact and friction in 3D space

Dynamics modeling of gear transmissions with asymmetric load-dependent friction

“…Remark 1. Throughout this paper, it is assumed that there is no difference between the maximum static friction coefficient and the kinetic friction coefficient, as in many previous studies, e.g., [2,9,15,21]. It is also assumed that the friction coefficient does not depend on the velocity.…”

“…Considering ( 20) and ( 22), we can obtain the proposed DAI representation ( 14) with λ = −µ|ξ|(1 + κ)λ n and {γ u , γ v } defined in (21). At every given instant, the equation of motion of this system is the DAI ( 14) but the coefficients {γ u , γ v } in (21) depend on the location of the contact point, which varies as the gears rotate. The number of contact points also varies between one and two as the gears rotate.…”

“…The number of contact points also varies between one and two as the gears rotate. By integrating {γ u , γ v } in (21) with respect to ξ over a full contact cycle, one may obtain average values of the coefficients {γ u , γ v } with some assumptions on the gear teeth geometry in a similar manner to those in [6,7,14,28,29]. Another approach to obtain {γ u , γ v } may be from empirical measurements of the torques in both shafts in the forward-driving and backdriving cases, as discussed in the upcoming Section 4.2.…”

Nonsmooth dynamic analysis of rigid-flexible interaction collision

“…At present, the bi-potential method has been applied to collision problems between rigid bodies and contact problems between flexible bodies. Regarding the category of collision bodies, the current research mainly focuses on the following three situations, i.e., the collision between rigid multibodies [20] , the collision between flexible multibodies [27] , and the collision between flexible bodies and constrained rigid bodies [28] . However, the collision between moving rigid bodies and flexible bodies has been relatively less studied.…”

Dynamic Modeling and Experimental Verification of A Cable-Driven Continuum Manipulator With Cable-Constrained Synchronous Rotating Mechanisms

“…However, to the authors' knowledge, there is no public literature which systematically deals with the effects of friction as well as deformation of driving and connecting cables on the dynamic behaviors of this type of manipulator. In real mechanical systems, these two factors cannot be ignored [40,39,30,27], they may affect the motion accuracy of this kind of manipulator and restrict its further development. The difficulties for dynamic modeling of the cabledriven continuum manipulator with CCSRM include three aspects.…”