Stick-slip interactions of the soft-solid contact: An integrated lugre/beam network model approach

Mitja Trkov, Haijun Han, Jingang Yi, Yanjie Liu

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Contact model of the soft-solid interactions plays an important role for robotic and mechatronic systems design. We present a new model of the soft-solid contact that integrates the LuGre dynamic friction model with the beam network model. The LuGre dynamic friction model uses the bristle deformation to capture the friction characteristics and dynamics while the beam network model represents the elastic contact interactions. The new model is applied to a fingertip-like stick-slip interaction application. We present the model prediction and validation results with the experiments. The comparison results demonstrate the effectiveness of the modeling development.

Original languageEnglish (US)
Title of host publicationDiagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791857250
DOIs
StatePublished - 2015
Externally publishedYes
EventASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States
Duration: Oct 28 2015Oct 30 2015

Publication series

NameASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Volume2

Conference

ConferenceASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Country/TerritoryUnited States
CityColumbus
Period10/28/1510/30/15

All Science Journal Classification (ASJC) codes

  • Industrial and Manufacturing Engineering
  • Mechanical Engineering
  • Control and Systems Engineering

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