TY - GEN
T1 - Stick-slip interactions of the soft-solid contact
T2 - ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
AU - Trkov, Mitja
AU - Han, Haijun
AU - Yi, Jingang
AU - Liu, Yanjie
N1 - Publisher Copyright:
© 2015 by ASME.
PY - 2015
Y1 - 2015
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84973352172&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84973352172&partnerID=8YFLogxK
U2 - 10.1115/DSCC2015-10002
DO - 10.1115/DSCC2015-10002
M3 - Conference contribution
AN - SCOPUS:84973352172
T3 - ASME 2015 Dynamic Systems and Control Conference, DSCC 2015
BT - Diagnostics 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
PB - American Society of Mechanical Engineers
Y2 - 28 October 2015 through 30 October 2015
ER -