Combined Effect of Sampling and Coulomb Friction on Haptic Systems Dynamics-Reference-Cited by-同舟云学术

Combined Effect of Sampling and Coulomb Friction on Haptic Systems Dynamics

Published:2018-04-27 Issue:6 Volume:13 Page:
ISSN:1555-1415
Container-title:Journal of Computational and Nonlinear Dynamics
language:en
Short-container-title:

Author:

Budai Csaba¹,Kovács László L.²,Kövecses József³

Affiliation:

1. Department of Mechatronics, Optics and Mechanical Engineering Informatics, Faculty of Mechanical Engineering, Budapest University of Technology and Economics, Budapest H-1521, Hungary e-mail:

2. Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, 817 Sherbrooke Street, West, Montréal, QC H3A 0C3, Canada e-mail:

3. Department of Mechanical Engineering and Centre for Intelligent Machines McGill University, 817 Sherbrooke Street, West, Montréal, QC H3A 0C3, Canada e-mail:

Abstract

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.

Publisher

ASME International

Subject

Applied Mathematics,Mechanical Engineering,Control and Systems Engineering,Applied Mathematics,Mechanical Engineering,Control and Systems Engineering

Link

http://asmedigitalcollection.asme.org/computationalnonlinear/article-pdf/doi/10.1115/1.4039962/6111949/cnd_013_06_061005.pdf

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