A review of friction models in interacting joints for durability design

Abstract

This paper presents a comprehensive review of friction modelling to provide an understanding of design for durability within interacting systems. Friction is a complex phenomenon and occurs at the interface of two components in relative motion. Over the last several decades, the effects of friction and its modelling techniques have been of significant interests in terms of industrial applications. There is however a need to develop a unified mathematical model for friction to inform design for durability within the context of varying operational conditions. Classical dynamic mechanisms model for the design of control systems has not incorporated friction phenomena due to non-linearity behaviour. Therefore, the tribological performance concurrently with the joint dynamics of a manipulator joint applied in hazardous environments needs to be fully analysed. Previously the dynamics and impact models used in mechanical joints with clearance have also been examined. The inclusion of reliability and durability during the design phase is very important for manipulators which are deployed in harsh environmental and operational conditions. The revolute joint is susceptible to failures such as in heavy manipulators these revolute joints can be represented by lubricated conformal sliding surfaces. The presence of pollutants such as debris and corrosive constituents has the potential to alter the contacting surfaces, would in turn affect the performance of revolute joints, and puts both reliability and durability of the systems at greater risks of failure. Key literature is identified and a review on the latest developments of the science of friction modelling is presented here. This review is based on a large volume of knowledge. Gaps in the relevant field have been identified to capitalise on for future developments. Therefore, this review will bring significant benefits to researchers, academics and industry professionals.

Micromechanical experiments using a new inter-granule loading apparatus on gravel to ballast-sized materials

“…Studies on the tribological and contact-mechanics properties of interfaces are of major theoretical and applied interest in industrial tribological applications [1,2] as well as in geoscience/geotechnical engineering research and practice [3,4]. In recent years, there has been a rapid increase in laboratory testing to better understand the tribological behavior of geological materials at the grain scale through measurements of real soil grain response.…”

Liquid spring damper for vertical landing Reusable Launch Vehicle under impact conditions

“…When calculating the friction force between the piston, piston rod and cylinder, the modified Reset Integral Friction Model [31] is employed. The nominal model can represent the stick-slip friction phenomenon while retaining a good computational efficiency.…”

“…The Reset Integral Friction Model [31] with the Stribeck effect is used in modified form here to model the contact friction between the footpad and ground. The contact tangential friction force t F between the footpad and ground uses equation (33) with the new state variable s rf .…”

Disturbance Observer‐Based Robot End Constant Contact Force‐Tracking Control

“…e friction term in equation 1is modelled using a classical friction model [25] including viscous friction and Coulomb friction as follows:…”