Calin-Octavian Miclosina, Vasile Cojocaru *, Daniel-Gheorghe Vela
Babeş-Bolyai University
Faculty of Engineering
Traian Vuia Square, No. 1-4, 320085 Resita, Romania
* Corresponding author. E-mail: vasile.cojocaru@ubbcluj.ro
Robotica & Management, Vol. 26, No. 1, pp. 09-12
DOI: https://doi.org/10.24193/rm.2021.1.2
Abstract: The paper presents a way of estimation, by simulation, of friction forces that occur in the kinematical joints of mechanical systems. Friction forces between planar surfaces, in revolute joints, and in spherical joints are computed, and the results are compared with the values achieved from simulation. SolidWorks software is used for the simulation process.
Keywords: friction force, kinematical joint, simulation, SolidWorks.
References
[1] Chernous’ko F.L., Shunderyuk M.M.: “The influence of friction forces on the dynamics of a two-link mobile robot”, PMM Journal of Applied Mathematics and Mechanics, Vol. 74, Issue 1, pp13-23, 2010, DOI: 10.1016/j.jappmathmech.2010.03.003.
[2] Cojocaru V., Campian C.V., Korka Z.I.: „The Influence of Pressure Distribution on the Maximum Values of Stress in FEM Analysis of Plain Bearings”, Robotica & Management, vol. 21, no. 2, 2016, pp. 15-17.
[3] Cojocaru V., Micloşină C.-O.: „Numerical Analysis of the Influence of Clearance on Stress State and Contact Pressure in Plain Bearings”, Robotica & Management, Vol. 22, No. 2, December 2017, pp. 4-7.
[4] Corral E., Gomez Garcia M.J., Castejon C., Meneses J., Gismeros R.: “Dynamic Modeling of the Dissipative Contact and Friction Forces of a Passive Biped-Walking Robot”, Applied Sciences-Basel, vol. 10, issue7, article no. 2342, 2020, DOI: 10.3390/app10072342.
[5] Jatsun S.F., Volkova L.Y., Naumov G.S., Yatsun A.S.: “Modelling of Movement of the Three-Link Robot with Operated Friction Forces on the Horizontal Surface”, Proceedings of Conference on Climbing and Walking Robots (CLAWAR), July 14-17, 2013, Sydney, Australia, published in Nature Inspired Mobile Robotics, pp. 677-684, 2013.
[6] Jeon S., Tomizuka M.: “Limit cycles due to friction forces in flexible joint mechanisms”, Proceedings of IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 24-28 July, 2005, Monterey, CA, pp. 723-728.
[7] Kim S., Lee D.Y.: “Friction-Model-Based Estimation of Interaction Force of a Surgical Robot”, Proceedings of the 15th International Conference on Control, Automation and Systems (ICCAS), October 13-16, 2015, Busan, South Korea, pp.1503-1507.
[8] Liu M., Quach N.H.: “Estimation and compensation of gravity and friction forces for robot arms: Theory and experiments”, Journal of Intelligent & Robotic Systems, vol. 31, issue 4, pp. 339-354, 2001, DOI: 10.1023/A:1012089607929.
[9] Liu X., Zhao F., Mei X.S.: “End-Effector Force Estimation for Flexible-Joint Robots with Global Friction Approximation Using Neural Networks”, IEEE Transactions on Industrial Informatics, 15 (3), pp.1730-1741, 2019.
[10] Ludema K.C.: “Friction, Wear, Lubrication. A Textbook in Tribology”, CRC Press, 1996.
[11] Miclosina C.: “Contributii la analiza si sinteza mecanismelor robotilor cu topologie paralela, utilizand notiunea de “conexiune”/Contributions to the Analysis and Synthesis of Parallel Topology Robots Mechanisms, Using the Notion of „Connexion””, Doctor Thesis, “Politehnica” University of Timisoara, 2006.
[12] Miclosina C.-O.: “Roboti industriali si linii flexibile / Industrial Robots and Flexible Lines”, Editura Eftimie Murgu, Resita, 2009.
[13] Miclosina C.-O., Campian C.V.: “3D Modeling and Motion Simulation of the Guiding Device of a Parallel Topology Robot”, Robotica & Management, vol. 15, no. 2, pp. 22-25, 2010.
[14] Miclosina C.-O., Korka Z.-I., Cojocaru V.: „Evaluation by Simulation of Reaction Forces that Occur in Spherical Joints of Parallel Topology Robots”, Joint International Conference of the International Conference on Mechanisms and Mechanical Transmissions and the International Conference on Robotics – MTM & Robotics 2020, Timişoara, Romania, published in Mechanisms and Machine Science book series, Volume 88, New Advances in Mechanisms, Mechanical Transmissions and Robotics, Springer, 2021, pp. 226-234, https://doi.org/10.1007/978-3-030-60076-1_20.
[15] Neglia S.G., Culla A., Fregolent A.: „Non-linear Dynamics of Jointed Systems Under Dry Friction Forces”, Kerschen G. (ed.), Nonlinear Dynamics, Vol. 1, Conference Proceedings of the Society for Experimental Mechanics Series, Springer, Cham, 2016, DOI: 10.1007/978-3-319-15221-9_2.
[16] Vela I., Miclosina C.: “Cercetări în domeniul Roboticii la Universitatea “Eftimie Murgu” Reşiţa”, (Research in the Field of Robotics at “Eftimie Murgu” University Resita), Robotica & Management, Vol. 7, No. 1, June 2002, pp. 53-62.
[17] Vela I., Miclosina C., Vela D.G., Cojocaru V., Amariei D., Bizau V.: “Activities in Robotics Domain at „Eftimie Murgu” University of Resita”, Robotica & Management, Vol. 14, No. 2, December 2009, pp. 33-35.
[18] Vorochaeva L.Y., Naumov G.S., Yatsun S.F.: “Simulation of motion of a three-link robot with controlled friction forces on a horizontal rough surface”, Journal of Computer and Systems Sciences International, vol. 54, issue 1, pp. 151-164, 2015, DOI: 10.1134/S1064230715010128.
[19] Vorochaeva L.Y., Panovko G.Y., Savin S.I., Yatsun A.S.: “Movement Simulation of a Five-Link Crawling Robot with Controlled Friction Forces”, Journal of Machinery Manufacture and Reliability, vol. 46, issue 6, pp. 527-535, 2017, DOI: 10.3103/S1052618817060152.
[20] ***: “Friction and Friction Coefficients”, https://www.engineeringtoolbox.com/friction-coefficients-d_778.html