Dissipation mechanisms and dissipative forces play a pivotal role in the operations and performance of human-machine interfaces and particularly in haptic systems. Dissipation is a very difficult phenomenon to model. Coulomb friction in general can be the most influential element in systems involving multiple direct contact connections such as joints with transmissions or mechanically guided components. Coulomb friction includes nonsmooth discontinuity and can induce complex dynamic behaviors. The effect of Coulomb friction is often neglected in haptics. The part of the literature which deals with friction mainly focuses on friction compensation and/or simulation of friction for haptic rendering. In this paper, the nature of the dynamic behavior caused by Coulomb friction in haptic sampled-data systems is illustrated by experiment, analysis, and simulation. It is also demonstrated that a simple model can represent this behavior and show the effects of the haptic system parameters on this dynamics.
Combined Effect of Sampling and Coulomb Friction on Haptic Systems Dynamics
Mechanical Engineering Informatics,
Faculty of Mechanical Engineering,
Budapest University of
Technology and Economics,
Budapest H-1521, Hungary
Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received March 7, 2017; final manuscript received April 1, 2018; published online April 27, 2018. Assoc. Editor: Brian Feeny.
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Budai, C., Kovács, L. L., and Kövecses, J. (April 27, 2018). "Combined Effect of Sampling and Coulomb Friction on Haptic Systems Dynamics." ASME. J. Comput. Nonlinear Dynam. June 2018; 13(6): 061005. https://doi.org/10.1115/1.4039962
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