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Closed-Form Representations of Friction
IEEE Access ( IF 3.9 ) Pub Date : 2021-02-04 , DOI: 10.1109/access.2021.3056542
Jin Huang , Xingyu Li , Huiqian Li , Ye-Hwa Chen , Zhihua Zhong

The current developed friction models are basically based on the assumption of the normal forces exerted between the contact surfaces known in advance, less work has been done for closed-form (i.e., analytic) modeling in complex mechanical systems where the normal forces vary greatly over time. In this paper, the closed-form representations of friction forces in mechanical systems are newly derived in a way of dynamics. The Udwadia-Kalaba equation is first used to calculate the normal force exerted by the contact surface in mechanical system. The friction force is then calculated via existing friction models. Such closed-form expressions of friction forces contain both the magnitude and direction at any instant of time, even as the normal force is nonconstant. The novel representations offer an effective way for analytically expressing friction force in dynamical systems, which makes it possible for accurate simulation and control design of dynamical systems with non-negligible friction forces.

中文翻译:

摩擦的闭合形式表示

当前开发的摩擦模型基本上是基于预先已知的作用在接触面之间的法向力的假设,在法向力在整个过程中变化很大的复杂机械系统中,对于闭合形式(即解析)建模所做的工作较少时间。在本文中,以动态方式新推导了机械系统中摩擦力的闭合形式表示。Udwadia-Kalaba方程首先用于计算机械系统中接触表面所施加的法向力。然后通过现有的摩擦模型计算摩擦力。即使法向力不是恒定的,摩擦力的这种闭合形式的表达式在任何时刻都包含大小和方向。
更新日期:2021-03-02
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