Studies of the dynamics of free microoscillations of a pendulum supported by two balls

Approaches to the measurement of rolling friction by the method of free oscillations of a pendulum are considered. The models of energy dissipation for the oscillation amplitudes within the contact area are analyzed. The friction characteristics are assessed for two surfaces of silicon that differ by the quality of the processing. Criteria for selecting an adequate model based on the nonlinear regression analysis of the experimental results are proposed.     

Analysis of Measurement Inaccuracy in Superlubricity Tests

Although investigations on superlubricity are increasing, the corresponding measurement errors, which have a great effect on the measured friction coefficient, have not been widely discussed. The present article analyzes the origin of friction measurement errors in a rotating ball-on-flat apparatus and shows that these errors play an important role in the relationship between the measured and real friction coefficient. Based on the analysis, two methods were proposed to eliminate the main measurement error. One is obtaining the same friction coefficients in two reverse sliding directions by adjusting the level of the substrate (rotating plane) and the other is averaging the measured friction coefficients in two reverse sliding directions. The designed experiments proved the effectiveness of the two methods in eliminating the measurement error. Such methods are also effective for investigations on superlubricity.     

基于区间分析的LuGre摩擦模型参数辨识方法

针对LuGre摩擦模型参数耦合、动态参数辨识困难等问题,提出一种基于区间分析的LuGre摩擦模型动态参数辨识方法。首先,简要介绍了边界误差估计方法及其在系统模型为常微分方程时系统参数辨识中的应用,然后,基于两步法思想,分别采用最小二乘法和基于区间分析的边界误差估计方法对4个静态参数和2个动态参数进行了辨识。该方法有效避免了采用传统非线性辨识方法辨识LuGre摩擦模型动态参数时初值确定困难、对辨识结果影响大以及显性目标函数不易给出等缺陷,同时,辨识得到的参数为全局最优。最后通过实例验证了该方法的正确性和有效性。     

Nonlinear shapes of steady-state vibrational oscillations of mechanical contact. Symmetrical tangential oscillations

A method of calculating nonlinear vibrational oscillations in mechanical contact systems with amplitude-dependent forces of hysteresis type is considered. The method is based on the representation of solutions of forced oscillation equation as nonlinear shapes corresponding to a model conservative system. Two-and three-dimensional dynamic characteristics of the principal and subharmonic modes of symmetrical tangential oscillations are obtained. Conditions under which friction contact oversteps the limits of the pre-sliding at force and kinematic vibrational loadings are specified. The results are compared to the Coulomb model of the friction force and this model is shown to be unsuitable for calculating contact oscillations with small amplitudes.     

船用低速机关键摩擦副建模分析与摩擦力无线测量验证

低速机结构复杂,其关键摩擦副的性能对船舶运营的经济性、安全性和稳定性有重要影响,然而,目前对低速机摩擦学问题的理论和试验研究很少.对船用低速机关键摩擦副进行建模分析,并对摩擦力进行无线测量验证.结合多体动力学和混合润滑理论建立了低速机关键摩擦副的多学科耦合仿真模型,实现对各摩擦副性能的预测;进而,基于间接测量思想,提出...     

海底犁式挖沟机犁体建模及土壤裂解研究

海底犁式挖沟机犁体工作面的结构直接影响挖掘效率及牵引力大小,对犁体工作面进行数学建模分析及挖掘机理研究具有重要的理论指导和工程实践价值。利用空间平面及水平直元线法建立犁体主切削面和翻抛曲面方程,根据翻抛土壤能量最小方向得到土迹线方程,基于犁体工作面土壤运动机理建立土壤裂解和翻抛的动力学方程,据此确定了牵引力的理论计算方法。数值仿真计算表明,翻抛曲面曲率影响土壤翻抛的法向力及切向力,牵引速度的变化对土壤翻抛的切向力影响较大;影响主切削面受力的主要因素包括土壤粘聚力和内摩擦角,且随着粘聚力与内摩擦角增加,后者对主切削面受力影响较大。海底犁式挖沟机试验样机的陆地试验结果与理论计算结果基本吻合,例如当沟深为0.8 m时,实测牵引力与理论值的相对误差为3%,试验结果验证了所建立的犁体牵引力的理论计算方法的可行性。该研究可以有效预测海底犁式挖沟机工程样机的牵引力,进而为工程样机的设计及海试等提供理论和技术参考。     

Influence of Ultrasonic Oscillation on Static and Sliding Friction

Vibrations of varying frequency and amplitude are used in many technological areas to control and reduce friction. In this study we report the results of systematic high-precision measurements of the static and sliding friction under the influence of ultrasonic oscillations. We investigate the effect of ultrasonic oscillations for in-plane and out-of-plane oscillations in the completely relevant interval of oscillation amplitudes and sliding velocities and for various material pairings. The experimental results are interpreted on the basis of both macroscopic and microscopic models. There are two main effects which are of interest for tribological applications. Firstly, the frictional force typically decreases with increasing oscillation amplitude, with an oscillation amplitude of about 0.1???m typically being sufficient for a significant decrease of frictional force. Secondly, the decrease of force is larger at smaller sliding velocities; therefore, at sufficiently large oscillation amplitudes, the frictional force always increases with sliding velocity. This effect can be used to suppress frictionally induced vibrations.     

Adaptive friction compensation or motion stabilization

The motion stabilization problem for the systems with friction force acting as disturbance has been considered. Two friction observer algorithms have been proposed to estimate the Coulomb friction force. One estimates the magnitude of the friction force only, while the other estimates the state and the friction force, simultaneously. The latter is robust to the measurement noise but needs more computation. The simulation study has showed that the compensation using the proposed friction observers greatly improves the stabilization performance.     

基于斜角切削的曲线端铣切削力建模

切削力预测是制定与优化加工工艺的重要环节。针对曲线端铣加工过程,提出一种基于斜角切削的切削力建模方法。将刀具沿轴向微分,以曲线微分几何计算微元刃上的工作基面。在微元刃的工作法平面参考系中,应用最小能量原理,构建微元刃中力矢量、速度矢量、流屑角、法向摩擦角、法向剪切角及剪应力等切削参数之间的约束。以单齿直线铣削试验对切削参数进行标定,其中法向摩擦角、法向剪切角及剪应力等可表示为瞬时未变形切屑厚度的函数。选取高强度钢PCrNi3MoVA试件,分别进行圆弧和Bézier曲线端铣加工试验。试验结果表明,曲线端铣时切削力的变化与瞬时进给方向和曲线曲率相关。切削力预测值的幅值大小和变化趋势与试验值一致,验证了该切削力建模方法的有效性。     

Force characteristics of dry friction when contact oscillates

A comparative evaluation of the applicability of elastoplastic and rigid-plastic force characteristics of dry friction to calculating contact-oscillating systems is discussed. It is shown that elastoplastic characteristics of the hysteretic type are applicable at amplitudes of oscillations less than or comparable with the ultimate predisplacement. The features are considered of the dynamic links in the sliding friction contact that may lead to the known least dependence of the force of friction. It is noted that application of rigid-plastic friction characteristics to calculation of low-amplitude quasi-elastic contact oscillations leads to contradiction with the experimental data.     

Effect of contact stiffness on wedge calibration of lateral force in atomic force microscopy

Quantitative friction measurement of nanomaterials in atomic force microscope requires accurate calibration method for lateral force. The effect of contact stiffness on lateral force calibration of atomic force microscope is discussed in detail and an improved calibration method is presented. The calibration factor derived from the original method increased with the applied normal load, which indicates that separate calibration should be required for every given applied normal load to keep the accuracy of friction measurement. We improve the original method by introducing the contact factor, which is derived from the contact stiffness between the tip and the sample, to the calculation of calibration factors. The improved method makes the calculation of calibration factors under different applied normal loads possible without repeating the calibration procedure. Comparative experiments on a silicon wafer have been done by both the two methods to validate the method in this article.     

Rolling cylinder on an elastic half-plane with harmonic oscillations in normal force and rotational speed. Part I: Solution of the partial slip contact problem

We study the effect of harmonic oscillations during the steady rolling of a cylinder on a plane in partial slip contact conditions in the limit of small oscillations. The solution is an extension of that given in Barber et al. [1] for infinitely large coefficient of friction. Here, the effect of varying normal load and hence contact area is investigated in detail by analyzing the first order variation of the tangential force and the corresponding relative displacements.In particular, the solution is given in terms of an explicit length scale d in the Flamant solution used as a Green function. Appropriate choice of values of d allows to treat both two-dimensional problems and three-dimensional ones having elliptical contact area sufficiently elongated in the direction of the rotation axis.Also, this analysis can be used as starting point for corrugation calculations in railway tracks, where oscillations in time of the normal forces can result in non-uniform wear and hence in amplification of the corrugation.     

A novel measurement method for the torque acting on the upper platen in a three-way double-sided lapping/polishing machine

In double-sided lapping and polishing processes, the friction coefficients between the workpiece and platens or pads are important parameters for understanding or improving the lapping and polishing processes. However, the friction coefficients have not been investigated in detail owing to insufficient measurement methods for the torques acting on the upper and lower platens, which are necessary to evaluate the friction coefficients. Thus, a novel measurement method for the torque acting on the upper platen in a three-way double-sided machine was proposed in this study. In the method, the torque is measured based on the forces acting on the holders supporting the upper platen rotation. The torques were measured with the method in double-sided lapping experiments, and they were confirmed to agree with the theoretical torque variation. Furthermore, the friction coefficient between the workpiece and upper pad identified with the proposed method was also verified by comparing with the friction coefficient measured in the single-sided lapping experiment. In addition, the estimation method of the lower platen torque based on the motor torque was investigated by utilizing the proposed method, and we found the lower platen torque was estimated accurately by taking a sufficient warm-up time or by modeling the torque loss in transmission path. Therefore, accurate measurement of the torques acting on the upper and lower platens, which is an effective tool for understanding or improving the process, was realized.     

气动软体爬行机器人驱动方式的分析与实验

为研究基于蠕动原理的仿生爬行机器人运动,以气动弯曲驱动器和伸长驱动器为机器人主体,设计了一种软体爬行机器人。针对爬行机器人在平面及管道中的运动,根据爬行机器人的力学特性和运动过程中摩擦力与驱动力之间的关系,分析了爬行机器人实现爬行运动的条件,提出了爬行机器人驱动方式。通过实验,验证了所提出的驱动方式能够实现软体爬行机器人的移动,为今后软体爬行机器人的研究及应用提供了基础。     

Modified slab analysis of asymmetrical plate rolling

In this paper the general case of asymmetrical plane strain rolling due to unequal roll diameter, unequal surface speed of the rolls and different contact friction is considered. An analytical model based on the slab method of analysis was used and further developed to obtain the characteristics of asymmetrical sheet rolling and to predict strip curvature. This method describes an enhancement to the rolling theory where friction becomes an integral part of deformation mechanics in the roll gap. To verify the validity of the proposed analytical model, the analytical rolling force, torque and curvature were compared with experimental and analytical results of other investigators. Very good agreements are found. Capability as well as the simplicity of the proposed model in predicting more accurate theoretical results for the rolling force, torque and curvature makes it suitable for the online control application.     

The dynamics of the dry friction oscillator taking into account pre-displacement and tangential contact stiffness

A one-dimensional model of the dry friction oscillator is considered taking into account the phenomena of pre-displacement and tangential contact stiffness. The dynamic parameters and characteristics of the basic mode of stabilized vibrations are determined for the cases of force and kinematic excitation. The obtained results are compared with the Coulomb model of the force of friction, which gives evidence that this model is inapplicable to calculating low-amplitude oscillations. The effect of the tribological contact parameters on the resonance characteristics of the oscillator and the damping properties of the friction contact are investigated.     

Identification of the nonlinear excitation force acting on a bowed string using the dynamical responses at remote locations

For achieving realistic numerical simulations of bowed string instruments, based on physical modeling, a good understanding of the actual friction interaction phenomena is of great importance. Most work published in the field including our own has assumed that bow/string frictional forces behave according to the classical Coulomb stick-slip model, with an empirical velocity-dependent sliding friction coefficient. Indeed, the basic self-excited string motions (such as the Helmholtz regime) are well captured using such friction model. However, recent work has shown that the tribological behavior of the bow/string rosin interface is rather complex, therefore the basic velocity-dependent Coulomb model may be an over-simplistic representation of the friction force. More specifically, it was suggested that a more accurate model of the interaction force can be achieved by coupling the system dynamical equations with a thermal model which encapsulates the complex interface phenomena. In spite of the interesting work performed by Askenfelt [32], a direct measurement of the actual dynamical friction forces without disturbing the string motion is quite difficult. Therefore, in this work we develop a modal-based identification technique making use of inverse methods and optimization techniques, which enables the identification of the interface force, as well as the string self-excited motion, from the dynamical reactions measured at the string end supports. The method gives convincing results using simulated data originated from nonlinear computations of a bowed string. Furthermore, in cases where the force identifications are very sensitive to errors in the transfer function modal parameters, we suggest a method to improve the modal frequencies used for the identifications. Preliminary experimental results obtained using a basic bowing device, by which the string is excited with the stick of the bow, are then presented. Our identifications, from the two dynamical string reactions, are consistent as attested by the comparison of the two available versions of the string dynamical motion and of the friction force. Furthermore, the method seems adequate to investigate the interface force for the bowed string.     

基于超声微驱动的超声波振动减摩机理

将超声电动机定子和转子接触区定子表面一点的超声波振动分解成水平振动和垂直振动 ,并分析了两个方向振动对超声电动机驱动作用的影响。提出水平振动产生摩擦驱动力 ,垂直振动影响水平驱动的效果 ,将垂直方向超声波振动的作用等效为普通滑动试验中引入垂直滑动方向超声波振动的作用研究 ,揭示了垂直方向超声波振动是导致超声驱动动摩擦因数降低的原因     

Method of generating and measuring static small force using down-slope component of gravity

A method of generating and measuring static small forces at the micro-Newton level is proposed. In the method, the down-slope component of gravity acting on a mass on an inclined plane is used as a static force. To realize a linear motion of the mass with a small friction, an aerostatic linear bearing is used. The forces acting on the mass, such as the down-slope component of gravity and the dynamic frictional force, are determined by the levitation mass method. In an experiment, a static small force of approximately 183 microN is generated and measured with a standard uncertainty of approximately 2 microN.     

自标定重载并联四维测力台测量机理与标定试验

面向航空航天领域对重载大测力面积多维测力台研发的迫切需要,为克服现有多维力传感器研制后均需繁冗的加载标定,采用提出的多维力传感器“自标定”设计理念,通过构建机械解耦测力分支并辅以并联正交分布结构,提出一种新型弱耦合自标定重载并联正交四维测力台构型。基于滚动摩阻理论分析与论证其解耦测量机理与自标定原理。在此基础上,设计并研制了该自标定重载并联四维测力台及其标定加载系统,标定试验结果表明,该四维测力台最大测量误差为0.62%,最大耦合误差为0.56%,论证了其解耦及自标定特性,从而为该自标定重载并联四维测力台的实际应用奠定基础,也为研制大量程重载并联多维力传感器提供了新思路。