Friction is an inherent nonlinear disturbance that can lead to creeping, jitter, and decreased tracking precision in an electro-hydraulic servo system. In this paper, the LuGre friction model is used to describe the dynamic and static characteristics...
This paper describes the results of dynamic tests performed to study the robustness of a dynamics model of an industrial manipulator. The tests show that the joint friction changes during the robot operation. The variation can be identified in a doub...
This study proposed a novel approach for the offline dynamic parameter identification of parallel kinematics mechanisms in which the friction is significant and varying. Since the friction is significant, it should be incorporated to provide an accur...
Ultra-precise actuation at extremely low speeds over a broad range is a major challenge for advanced manufacturing. A novel two-axis differential micro-feed system (TDMS) has been proposed recently to overcome the low-speed crawling of the worktable....
This paper proposes a dynamic-projection-integrated particle-filtering-based identification strategy for the friction characteristic curve of a train wheelset under the slipping fault condition. This strategy aims to achieve the identification of the...
The mechatronic design approach to robotics deploys, inter alia, widely available mechanical design engineering tools that, together with standard production techniques, allow the accurate quantification of the system’s mass properties. While t...
Although many friction models have been developed by various researchers over the years, a general model does not exist yet. In this article, we present the work that was developed to identify and propose an empirical model that represents the behavi...
For wet disk clutches, the energy input is strongly influenced by its friction behavior. However, the friction behavior cannot be simulated and therefore is mostly derived from experimental data for specific clutch systems. This paper presents a new...
In the milling process, the friction and wear of the tooth minor flank of the square shoulder milling cutter directly affects the machined surface quality and the cutter’s life. The friction of the minor flank of the cutter tooth presents a non...
Minimizing frictional resistance is crucial for ensuring the safety and smooth progress of pipe jacking construction. However, due to the unpredictability of geological conditions, it is difficult to grasp the frictional resistance during constructio...
Accurate dynamic model is critical for collaborative robots to achieve satisfactory performance in model-based control or other applications such as dynamic simulation and external torque estimation. Such dynamic models are frequently restricted to i...
In a high-precision servo system, the nonlinear friction link is the key factor affecting the system performance. Reasonable solving of the friction link in servo systems has become a focus of current research. This paper summarizes the friction nonl...
Instantaneous friction and wear energy density are important indicators of the friction and wear state of the tooth flank of the milling cutter. Existing methods for identifying the friction and wear on the tooth flank of milling cutters mainly focus...
Aiming at inertial and viscous parameter identification for the Stewart manipulator regardless of the influence of Coulomb friction, a simple and effective dynamical parameter identification method based on wavelet transform and joint velocity analys...
This paper investigates the transmission performance of a novel dual-drive hydrostatic lead screw micro-nano feed system (DDHLS) that can obtain extremely low speed. Firstly, the oil film liquid friction of hydrostatic transmission is modelled, and t...
Hydraulic axial piston pumps are the power source of fluid power systems and have important applications in many fields. They have a compact structure, high efficiency, large transmission power, and excellent flow variable performance. However, the c...
Prostate cancer has one of the highest incidences of male malignant tumors worldwide. Its treatment involves the robotic implantation of radioactive seeds in the perineum, a safe and effective procedure for early, low-risk prostate cancer. In order t...
Nowadays, vehicles have advanced driver-assistance systems which help to improve vehicle safety and save the lives of drivers, passengers and pedestrians. Identification of the road-surface type and condition in real time using a video image sensor,...
Nonlinear dissipative phenomena are common features of many dynamical systems and engineering applications, and their experimental characterization has always been a challenge among the research community. Within the wide range of nonlinear damping m...
The application of artificial intelligence and increasing high-speed computational performance is still not fully explored in the field of numerical modeling and simulation of machining processes. The efficiency of the numerical model to predict the...
In this contribution, three methodologies based on temperature-sensitive paint (TSP) data were further developed and applied for the optical determination of the critical locations of flow separation and reattachment in compressible, high Reynolds nu...
DC motors play a fundamental role in robotic and mechatronic systems applied to the manufacturing industry; but broadly speaking, they are necessary in any system where motion is required. In these types of applications, precise control of position a...
High-precision identification of dynamic parameters is crucial for the on-orbit performance of space manipulators. This paper investigates dynamic modeling and parameter identification under special environmental conditions such as microgravity and v...
Ensuring precise prediction, monitoring, and control of frictional contact temperature is imperative for the design and operation of advanced equipment. Currently, the measurement of frictional contact temperature remains a formidable challenge, whil...
In this paper, a two-step tuning strategy of a finite element (FE) model of a bridge with pot bearings exposed to mining-triggered tremors of various intensities is proposed. In the study, a reinforced concrete bridge 160 m long is considered. Once t...
This paper proposes a nonlinear observer for Body Slip Angle (β) estimation, in which a nonlinear tire model is adopted for the observer design. A newly developed method to identify parameters of road surface friction coefficient (μ) is introduced in...
This paper deals with an experimental study on the modeling and identification of the hysterical behavior of inerters. Unlike existing methods that can only consider a constant inertance to capture a static model of the device, we develop three diffe...
Guided by principles of symmetry to achieve a proper balance among model consistency, accuracy, and complexity, this paper proposes a new approach for identifying the unknown parameters of nonlinear one-degree-of-freedom mechanical systems using nonl...
These days, biomimetic and compliant actuators have been made available to the main applications of rehabilitation and assistive robotics. In this context, the interaction control of soft robots, mechatronic surgical instruments and robotic prosthese...
Commonly used intelligent algorithms that are used to identify the parameters of friction of industrial robots have poor accuracy or involve complex coding, which is not conducive to their use in engineering. This paper uses the random wandering simu...
The article deals with issues related to the processes occurring in the wear result of steel surfaces of machine components in the presence of mineral grains. This type of destruction of cooperating surfaces usually takes place during the development...
The hoist assembly based on the Koeppe friction is a commonly used solution in mining. However, it has some disadvantages. A few centimeters offset of the groove axis can lead to excessive abrasion of linings on the Koeppe friction and pulleys. As a...
The adaptive joining process employing friction-spun joint connectors (FSJC) is a promising method for the realization of adaptable joints and thus for lightweight construction. In addition to experimental investigations, numerical studies are indisp...
Developing accurate dynamic models for various systems is crucial for optimization, control, fault diagnosis, and prognosis. Recent advancements in information technologies and computing platforms enable the acquisition of input–output data fro...
Pneumatic cylinders are widely used in highly dynamic processes, such as handling and conveying tasks. They must work both reliably and accurately. The positioning accuracy suffers from the stick-slip effect due to strong adhesive forces during the s...
Although integrated joint torque sensors in robots dispel the need for external force/torque sensors at the wrist to measure interactions, an inherent challenge is that they also measure the robot’s intrinsic dynamics. This is especially proble...
Friction conditions, along with the flow behaviors of materials, significantly impact plastic deformation during metal forming. Extensive practical research on friction has thus been conducted, and industrial development has been remarkable. However,...
Friction press joining is an innovative joining process for bonding plastics and metals without additives in an overlap configuration. This paper presents for the first time a model-based approach for designing a multi-variable model predictive contr...
The accurate estimation of the tyre-road peak friction coefficient is the key basis for the normal operation of the vehicle active safety control system. The estimation algorithm needs to be able to adapt to various conditions encountered in the actu...
Knowledge of tire-road friction characteristics is essential for the proper performance of most relevant vehicle active safety systems. Therefore, its determination is necessary to improve the effectiveness of these systems and to avoid or reduce the...
Inspired by the difference in the friction radii of the pads from the high-speed train brake system, stick–slip experiments for a disc–block friction system with different friction radii were carried out via a test device. Based on the te...
Torque-based impedance control, a kind of classical active compliant control, is widely required in human–robot interaction, medical rehabilitation, and other fields. Adaptive impedance control effectively tracks the force when the robot comes...
To realize the stable tracking control of the optoelectronic stabilized platform system under nonlinear friction and external disturbance, an active disturbance rejection controller (ADRC) with friction compensation is proposed to improve the target...
Propeller-induced longitudinal vibration resonance in marine propulsion shafting systems causes great harm to the hull structure and is the primary source of shipboard noise. Integrating a friction damper with designed parameters into thrust bearings...
A dynamic load simulator, which can reproduce on-ground aerodynamic hinge moment of control surface, is an essential rig for the performance and stability test of an aircraft actuation system. In this paper, an observer-based backstepping adaptive co...
With advancements in mobile robot technology, wheel-legged robots have emerged as promising next-generation mobile solutions, reducing design costs and enhancing adaptability in unstructured environments. As underactuated systems, their balance contr...
This paper proposes an autonomous vehicle trajectory tracking system that fully considers road friction. When an intelligent vehicle drives at high speed on roads with different friction coefficients, the difficulty of its trajectory tracking control...
Fiber-reinforced hybrid composites are the most commonly used dry-friction materials in the automotive industry. On the other hand, the great variety of components utilized these days in such material systems often requires identification investigati...
The application of tribology is not just limited to mechanical components of engineering systems. As a matter of fact, the understanding of friction and wear can be applied to everyday life. One of the important fields is skin tribology, as human ski...
This paper discusses the importance of accurately identifying the parameters and states in permanent magnet synchronous motors (PMSMs) and their impact on motor performance and efficiency. This study was conducted to demonstrate the significance of t...
of 5