Modification of the Leuven integrated friction model structure

Lampaert, Vincent; Swevers, Jan; Al‐Bender, Farid

doi:10.1109/9.995050

Cited by 273 publications

(138 citation statements)

References 8 publications

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“…Nowadays, friction is well recognized: frictional effects in multibody systems are commonly taken into consideration in engineering practice, and some aspects of modeling of friction are taught during multibody dynamics courses at various universities [3,41]. On the other hand, friction in multibody systems is extensively investigated by 21st century researchers (e.g., [7,8,[16][17][18]28]). This paper was aimed at pointing the attention to some important properties of various approaches to friction modeling that manifest themselves in the stiction regime.…”

Section: Discussionmentioning

confidence: 99%

“…It is representative for a group of models with auxiliary "internal dynamics" state variable that describes the micro-slip during the stiction phase [12]. Apart from the LuGre model, this approach is adopted, for example, in Dankowicz [8,13], Dahl [14], and Leuven [15,16] friction models. In these models, both stiction and sliding regimes are unified and governed by the same equations.…”

Section: Introductionmentioning

confidence: 99%

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

Wojtyra

2016

Multibody Syst Dyn

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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.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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

Wojtyra

2016

Multibody Syst Dyn

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“…The modified Leuven model presented in Ref. [90] addresses the issues of memory stack size and frictional force discontinuity at closure of frictional loop with Lueven model. De Wit et al [94] described the loss of performance of high precision manipulators owing to the effects of friction.…”

Section: Dynamic Friction Modelsmentioning

confidence: 99%

A review of friction models in interacting joints for durability design

2017

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This paper presents a comprehensive review of friction modelling to provide an understanding of design for durability within interacting systems. Friction is a complex phenomenon and occurs at the interface of two components in relative motion. Over the last several decades, the effects of friction and its modelling techniques have been of significant interests in terms of industrial applications. There is however a need to develop a unified mathematical model for friction to inform design for durability within the context of varying operational conditions. Classical dynamic mechanisms model for the design of control systems has not incorporated friction phenomena due to non-linearity behaviour. Therefore, the tribological performance concurrently with the joint dynamics of a manipulator joint applied in hazardous environments needs to be fully analysed. Previously the dynamics and impact models used in mechanical joints with clearance have also been examined. The inclusion of reliability and durability during the design phase is very important for manipulators which are deployed in harsh environmental and operational conditions. The revolute joint is susceptible to failures such as in heavy manipulators these revolute joints can be represented by lubricated conformal sliding surfaces. The presence of pollutants such as debris and corrosive constituents has the potential to alter the contacting surfaces, would in turn affect the performance of revolute joints, and puts both reliability and durability of the systems at greater risks of failure. Key literature is identified and a review on the latest developments of the science of friction modelling is presented here. This review is based on a large volume of knowledge. Gaps in the relevant field have been identified to capitalise on for future developments. Therefore, this review will bring significant benefits to researchers, academics and industry professionals.

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“…Leuven friction model and generalized Maxwell-slip (GMS) model were proposed by Swevers et al (2000) and Lampaert et al (2002), respectively. The two models were developed based on the experimental findings that the friction force in the pre-sliding regime has a hysteresis characteristic with respect to the position.…”

Section: Overview Of the Friction Modelsmentioning

confidence: 99%

Experimental comparison of five friction models on the same test-bed of the micro stick-slip motion system

et al. 2015

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Abstract. The micro stick-slip motion systems, such as piezoelectric stick-slip actuators (PE-SSAs), can provide high resolution motions yet with a long motion range. In these systems, friction force plays an active role. Although numerous friction models have been developed for the control of micro motion systems, behaviors of these models in micro stick-slip motion systems are not well understood. This study (1) gives a survey of the basic friction models and (2) tests and compares 5 friction models in the literature, including Coulomb friction model, Stribeck friction model, Dahl model, LuGre model, and the elastoplastic friction model on the same testbed (i.e. the PE-SSA system). The experiments and simulations were done and the reasons for the difference in the performance of these models were investigated. The study concluded that for the micro stick-slip motion system, (1) Stribeck model, Dahl model and LuGre model all work, but LuGre model has the best accuracy and (2) Coulomb friction model and the elastoplastic model does not work. The study provides contributions to motion control systems with friction, especially for micro stick-slip or step motion systems as well as general micro-motion systems.

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Modification of the Leuven integrated friction model structure

Cited by 273 publications

References 8 publications

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

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

A review of friction models in interacting joints for durability design

Experimental comparison of five friction models on the same test-bed of the micro stick-slip motion system

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