Multibody dynamics simulation of planar linkages with Dahl friction

Pennestrı̀, Ettore; Valentini, P; Vita, L.

doi:10.1007/s11044-007-9047-5

Cited by 49 publications

(33 citation statements)

References 25 publications

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“…8), however, other models are allowed, e.g. a Dahl model for friction in rotational pairs (Pennestri, Valenti and Vita, 2007).…”

Section: F Resultsmentioning

confidence: 99%

“…To establish a friction model for the kinematical pairs in the structural group. Several options are allowable for the pair friction models, from a simple Coulomb model to a Dahl model (Pennestri, Valenti and Vita, 2007).…”

Section: Methodsmentioning

confidence: 99%

“…A modern tendency in MBS dynamics is to develop modular methods and hierarchical simulations (Schiehlen, 1997;Eberhard and Schiehlen, 1998;Kubler and Schiehlen, 2000). For planar linkages (Pennestri, Valenti and Vita, 2007) present a MBS dynamic simulator that allows (Dahl) friction in the kinematic pairs. Dynamics of a planar rigid-link mechanism with rotating slider joint and simplified friction calculations are presented in Marghitu (2003, 2004).…”

Section: = Drive Input Torque Of a Driving Mechanism Nmmentioning

confidence: 99%

See 2 more Smart Citations

Analytical method for the kinetostatic analysis of the second-class RRR Assur group allowing for friction in the kinematic pairs

Durango¹,

Calle²,

Ruiz³

2010

J. Braz. Soc. Mech. Sci. & Eng.

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“…8), however, other models are allowed, e.g. a Dahl model for friction in rotational pairs (Pennestri, Valenti and Vita, 2007).…”

Section: F Resultsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: = Drive Input Torque Of a Driving Mechanism Nmmentioning

confidence: 99%

See 1 more Smart Citation

Analytical method for the kinetostatic analysis of the second-class RRR Assur group allowing for friction in the kinematic pairs

Durango¹,

Calle²,

Ruiz³

2010

J. Braz. Soc. Mech. Sci. & Eng.

View full text Add to dashboard Cite

“…In [46] the continuity of different models is studied in detail, but the computational effort of the different model was not considered. The difficulties with the discontinuity of the Coulomb model in dynamic simulations are discussed in [56]. Nevertheless, the results of the numerical investigations showed that the continuity of the used friction model is of minor importance when the overall numerical efficiency is evaluated.…”

Section: Discussionmentioning

confidence: 99%

A complete strategy for efficient and accurate multibody dynamics of flexible structures with large lap joints considering contact and friction

2016

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This paper deals with the dynamics of jointed flexible structures in multibody simulations. Joints are areas where the surfaces of substructures come into contact, for example, screwed or bolted joints. Depending on the spatial distribution of the joint, the overall dynamic behavior can be influenced significantly. Therefore, it is essential to consider the nonlinear contact and friction phenomena over the entire joint. In multibody dynamics, flexible bodies are often treated by the use of reduction methods, such as component mode synthesis (CMS). For jointed flexible structures, it is important to accurately compute the local deformations inside the joint in order to get a realistic representation of the nonlinear contact and friction forces. CMS alone is not suitable for the capture of these local nonlinearities and therefore is extended in this paper with problem-oriented trial vectors. The computation of these trial vectors is based on trial vector derivatives of the CMS reduction base. This paper describes the application of this extended reduction method to general multibody systems, under consideration of the contact and friction forces in the vector of generalized forces and the Jacobian. To ensure accuracy and numerical efficiency, different contact and friction models are investigated and evaluated. The complete strategy is applied to a multibody system containing a multilayered flexible structure. The numerical results confirm that the method leads to accurate results with low computational effort.

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“…In these models, both stiction and sliding regimes are unified and governed by the same equations. At a price of introducing additional differential equations, some drawbacks of smoothed Coulomb models are overcome, and more realistic results are gained [8,17,18]. This article points out that in the stiction regime and its neighborhood, the multibody model behavior is highly sensitive to changes of some less important parameters (often hardly measurable) of the model of joint friction.…”

Section: Introductionmentioning

confidence: 99%

Modeling of static friction in closed-loop kinematic chains—Uniqueness and parametric sensitivity problems

Wojtyra

2016

Multibody Syst Dyn

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Problems with uniqueness and high parametric sensitivity of the solution of equations of motion, encountered in the static friction regime, are addressed. Friction in joints of a multibody system with closed-loop kinematic chains is discussed. Three different models of friction are studied: the discontinuous Coulomb model with stiction regime represented in terms of additional constraints; the approximate Coulomb model, smoothed in the vicinity of zero relative velocity; and the LuGre model with presliding displacements represented in terms of auxiliary state variables. Firstly, a rigid body model is investigated. It is shown that in the case of constraint addition approach, problems with uniqueness of solution emerge in the static friction regime. In the case of continuous models of friction, the solution in the stiction regime and its vicinity is highly sensitive to some hardly measurable or arbitrarily chosen parameters of the model of friction. Origins of nonuniqueness and high sensitivity are investigated, and the questionable credibility of the stiction regime simulation results is discussed. Secondly, a simplified model of body and joint elasticity is introduced to investigate the impact of flexibility on the mechanism frictional behavior. It is shown that taking the flexibility into consideration may eliminate the uniqueness and sensitivity problems. Moreover, the quantities that represent flexibility may be regarded as the key factors influencing the results of stiction regime simulation. Five examples are provided to illustrate the presented considerations.

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Multibody dynamics simulation of planar linkages with Dahl friction

Cited by 49 publications

References 25 publications

Analytical method for the kinetostatic analysis of the second-class RRR Assur group allowing for friction in the kinematic pairs

Analytical method for the kinetostatic analysis of the second-class RRR Assur group allowing for friction in the kinematic pairs

A complete strategy for efficient and accurate multibody dynamics of flexible structures with large lap joints considering contact and friction

Modeling of static friction in closed-loop kinematic chains—Uniqueness and parametric sensitivity problems

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