Modeling of the soft-solid frictional interactions plays an important role in many robotic and mechatronic systems design. We present a new model that characterizes the two-dimensional (2D) soft-solid contact interactions. The new computational approach integrates the LuGre dynamic friction model with the beam network structure of the soft-solid contact. The LuGre dynamic friction model uses the bristle deformation to capture the friction characteristics and dynamics, while the beam network structure represents the elastic contact interactions. We also present a model simplification to facilitate analysis of model properties. The model prediction and validation results are demonstrated with the experiments. The experimental results confirm the effectiveness of the modeling development. We further use the model to compute the influence of the normal load and sliding velocity on the stick-slip interaction patterns and properties. These results explain and provide analytical foundation for the reported experiments in the literature.
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April 2019
Research-Article
A Stick-Slip Interactions Model of Soft-Solid Frictional Contacts
Hongbiao Xiang,
Hongbiao Xiang
Tianjin Key Laboratory for Advanced Mechatronic
System Design and Intelligent Control,
Tianjin University of Technology,
Tianjin 300384, China
e-mail: xhb@tju.edu.cn
System Design and Intelligent Control,
Tianjin University of Technology,
Tianjin 300384, China
e-mail: xhb@tju.edu.cn
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Mitja Trkov,
Mitja Trkov
Department of Mechanical Engineering,
University of Utah,
Salt Lake City, UT 84112
e-mail: m.trkov@utah.edu
University of Utah,
Salt Lake City, UT 84112
e-mail: m.trkov@utah.edu
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Kaiyan Yu,
Kaiyan Yu
Department of Mechanical Engineering,
Binghamton University,
Binghamton, NY 13902
e-mail: kyu@binghamton.edu
Binghamton University,
Binghamton, NY 13902
e-mail: kyu@binghamton.edu
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Jingang Yi
Jingang Yi
Fellow ASME
Department of Mechanical and
Aerospace Engineering,
Rutgers University,
Piscataway, NJ 08854
e-mail: jgyi@rutgers.edu
Department of Mechanical and
Aerospace Engineering,
Rutgers University,
Piscataway, NJ 08854
e-mail: jgyi@rutgers.edu
Search for other works by this author on:
Hongbiao Xiang
Tianjin Key Laboratory for Advanced Mechatronic
System Design and Intelligent Control,
Tianjin University of Technology,
Tianjin 300384, China
e-mail: xhb@tju.edu.cn
System Design and Intelligent Control,
Tianjin University of Technology,
Tianjin 300384, China
e-mail: xhb@tju.edu.cn
Mitja Trkov
Department of Mechanical Engineering,
University of Utah,
Salt Lake City, UT 84112
e-mail: m.trkov@utah.edu
University of Utah,
Salt Lake City, UT 84112
e-mail: m.trkov@utah.edu
Kaiyan Yu
Department of Mechanical Engineering,
Binghamton University,
Binghamton, NY 13902
e-mail: kyu@binghamton.edu
Binghamton University,
Binghamton, NY 13902
e-mail: kyu@binghamton.edu
Jingang Yi
Fellow ASME
Department of Mechanical and
Aerospace Engineering,
Rutgers University,
Piscataway, NJ 08854
e-mail: jgyi@rutgers.edu
Department of Mechanical and
Aerospace Engineering,
Rutgers University,
Piscataway, NJ 08854
e-mail: jgyi@rutgers.edu
1H. X. and M. T. equally contributed to the paper.
2Present address: Tianjin Eco-City Information Park Investment and Development Co., Ltd., Tianjin, 300467, China.
3The author was a visiting scholar with the Department of Mechanical and Aerospace Engineering, Rutgers University, Piscataway, NJ 08854.
4Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received November 7, 2017; final manuscript received December 5, 2018; published online January 14, 2019. Editor: Joseph Beaman.
J. Dyn. Sys., Meas., Control. Apr 2019, 141(4): 041015 (10 pages)
Published Online: January 14, 2019
Article history
Received:
November 7, 2017
Revised:
December 5, 2018
Citation
Xiang, H., Trkov, M., Yu, K., and Yi, J. (January 14, 2019). "A Stick-Slip Interactions Model of Soft-Solid Frictional Contacts." ASME. J. Dyn. Sys., Meas., Control. April 2019; 141(4): 041015. https://doi.org/10.1115/1.4042247
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