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Stick-Slip Interactions of the Soft-Solid Contact: An Integrated LuGre/Beam Network Model Approach

[+] Author Affiliations
Mitja Trkov, Jingang Yi

Rutgers University, Piscataway, NJ

Haijun Han, Yanjie Liu

Harbin Institute of Technology, Harbin, Heilongjiang, China

Paper No. DSCC2015-10002, pp. V002T34A001; 8 pages
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 2: Diagnostics and Detection; Drilling; Dynamics and Control of Wind Energy Systems; Energy Harvesting; Estimation and Identification; Flexible and Smart Structure Control; Fuels Cells/Energy Storage; Human Robot Interaction; HVAC Building Energy Management; Industrial Applications; Intelligent Transportation Systems; Manufacturing; Mechatronics; Modelling and Validation; Motion and Vibration Control Applications
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5725-0
  • Copyright © 2015 by ASME


Contact model of the soft-solid interactions plays an important role for robotic and mechatronic systems design. We present a new model of the soft-solid contact that integrates the LuGre dynamic friction model with the beam network model. The LuGre dynamic friction model uses the bristle deformation to capture the friction characteristics and dynamics while the beam network model represents the elastic contact interactions. The new model is applied to a fingertip-like stick-slip interaction application. We present the model prediction and validation results with the experiments. The comparison results demonstrate the effectiveness of the modeling development.

Copyright © 2015 by ASME



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