Effects of Frictional Models on the Dynamic Response of the Impact Drive Mechanism

Ha, Jih-Lian; Fung, Rong‐Fong; Han, Chang-Fu; Chang, Jer-Rong

doi:10.1115/1.2128641

Cited by 26 publications

(11 citation statements)

References 16 publications

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“…To consider the frictional torque, we adopt the Lu-Gre model [11,12], which contains a state variable representing the average deflection of elastic bristles, which are visualized on the contacting surfaces. The resulting model faithfully captures the majority of known frictional behaviors, such as the pre-sliding displacement, frictional lag, varying break-away torque and stick-slip motion.…”

Section: Frictional Modelmentioning

confidence: 99%

“…Canudas de Wit et al [11] proposed a dynamic fric-tional model that combines the stiction behavior, i.e., the Dahl effect, with arbitrary steady-state frictional characteristics which include Stribeck effect. Frictional force is a nonlinear behavior and can cause some difficult problems such as static errors, limit cycles and stick-slip in mechanical systems [12]. The variable structure controller (VSC) can enhance the robustness under plant disturbances and uncertainties [13,14].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

An Minimum-Energy-Based High-Degree Polynomial Trajectory Planning and Tracking Control for an LCD Glass-handling Robot

Fung

Cheng²

2011

IJIES

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A new method of minimum-energy point-to-point (PTP) trajectory planning is proposed for an LCD glass-handing robot, which is driven by a permanent magnet synchronous motor (PMSM). The variable structure controller (VSC) is designed to track the trajectories and compensate LuGre model of frictional torque effects. The robot system is described by a mechanical equation and an electrical equation. To generate the minimum-energy trajectory, we employ a high-degree polynomial with suitable end-point conditions. The real-coded genetic algorithm (RGA) is used to search for the coefficients of the polynomial with the fitness function of minimum-energy input. Finally, numerical simulations of the minimum-energy inputs are compared for various degrees of polynomials. It is concluded that the proposed methodology can effectively design the minimum-energy trajectory, and the nonlinear VSC can track the designed trajectories for the robot system driven by a PMSM.

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Section: Frictional Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An Minimum-Energy-Based High-Degree Polynomial Trajectory Planning and Tracking Control for an LCD Glass-handling Robot

Fung

Cheng²

2011

IJIES

Self Cite

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“…The friction force is nonlinear, so an accurate friction model is important to study coupled motion interactions. Many friction models, such as the Coulomb, Karnopp, LuGre, Leuven, and elastoplastic friction models, have been widely used in the friction analysis of PIDMs [21][22][23][24][25]. The Coulomb model is a basic static friction model that cannot describe friction when the relative speed is zero.…”

Section: Introductionmentioning

confidence: 99%

Simulation of Motion Interactions of a 2-DOF Linear Piezoelectric Impact Drive Mechanism with a Single Friction Interface

et al. 2018

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A two-degrees-of-freedom (2-DOF) linear piezoelectric impact drive mechanism (PIDM) is actuated by two independent piezoelectric actuators (PAs). The coupled motion interactions of a two orthogonal DOF linear PIDM with a single friction interface are introduced and analyzed. A complete dynamic model of the 2-DOF PIDM is established with the Karnopp friction model considering the distribution of friction in the x-axis and y-axis. The output displacements of the 2-DOF PIDM and two corresponding independent 1-DOF PIDMs are investigated numerically. When the two input exciting signals of a 2-DOF PIDM have the same driving voltage of 100 V with a duty ratio of 98% at 10 Hz and two 1-DOF PIDMs are driving under the same conditions, the step displacements in the two axes of 2-DOF PIDM are improved compared to the corresponding 1-DOF PIDM. When the two input exciting signals of a 2-DOF PIDM have the same driving voltages of 100 V with a duty ratio of 98% but the driving frequency is 10 Hz in the x-axis and 20 Hz in the y-axis, the results show that the displacement of high frequency achieves a slight decrease and displacement of low frequency shows a large increase compared to the two corresponding 1-DOF PIDMs.

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“…To date, there are three methods to deal with this issue in literature. The first method completely neglects the mass of the PA (Ha et al, 2005(Ha et al, , 2006Chang and Li, 1999;Jiang et al, 2000;Lambert et al, 2003;Edeler et al, 2011). The mechanical relation with this method is represented by…”

Section: The Mechanical Relationmentioning

confidence: 99%

“…The following model is widely used in the literature for describing the hysteresis behavior in the V -F relation (Croft et al, 2000;Ha et al, 2005Ha et al, , 2006Fung et al, 2008a, b;Peng 98 Y. F. Liu et al: Modeling and control of piezoelectric inertia-friction actuators 5 Figure 5. The spring-mass-damping system: (a) total system of the PA and A (stage/mass block) and (b) force analysis of the PA and A (stage/mass block) (Adriaens et al, 2000).…”

Section: The Piezoelectric Relationmentioning

confidence: 99%

Modeling and control of piezoelectric inertia–friction actuators: review and future research directions

Liu

et al. 2015

Mech. Sci.

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Abstract. This paper provides a comprehensive review of the literature regarding the modeling and control of piezoelectric inertia-friction actuators (PIFAs). Examples of PIFAs are impact drive mechanisms (IDMs) and friction-driving actuators (FDAs). In this paper, the critical challenges are first identified in modeling and control of PIFAs. Second, a general architecture of PIFAs is proposed to facilitate the analysis and classification of the literature regarding modeling and control of PIFAs. This general architecture covers all types of PIFAs (e.g., FDAs, IDMs) and thus serves as a general conceptual model of PIFAs. There is an additional benefit with this general architecture of PIFAs, namely that it is conducive to innovation in PIFAs, as new specific PIFAs may be designed in order to tailor to a specific application (for example, both FDAs and IDMs are viewed as specific PIFAs). Finally, the paper presents future directions in modeling and control for further improvement of the performance of PIFAs.

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Effects of Frictional Models on the Dynamic Response of the Impact Drive Mechanism

Cited by 26 publications

References 16 publications

An Minimum-Energy-Based High-Degree Polynomial Trajectory Planning and Tracking Control for an LCD Glass-handling Robot

An Minimum-Energy-Based High-Degree Polynomial Trajectory Planning and Tracking Control for an LCD Glass-handling Robot

Simulation of Motion Interactions of a 2-DOF Linear Piezoelectric Impact Drive Mechanism with a Single Friction Interface

Modeling and control of piezoelectric inertia–friction actuators: review and future research directions

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