Dissipation mechanisms and dissipative forces play a pivotal role in the operations and performance of human-machine interfaces and particularly in haptic systems. Dissipation is a very difficult phenomenon to model. Coulomb friction in general can be the most influential element in systems involving multiple direct contact connections such as joints with transmissions or mechanically guided components. Coulomb friction includes nonsmooth discontinuity and can induce complex dynamic behaviors. The effect of Coulomb friction is often neglected in haptics. The part of the literature which deals with friction mainly focuses on friction compensation and/or simulation of friction for haptic rendering. In this paper, the nature of the dynamic behavior caused by Coulomb friction in haptic sampled-data systems is illustrated by experiment, analysis, and simulation. It is also demonstrated that a simple model can represent this behavior and show the effects of the haptic system parameters on this dynamics.
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June 2018
Research-Article
Combined Effect of Sampling and Coulomb Friction on Haptic Systems Dynamics
Csaba Budai,
Csaba Budai
Department of Mechatronics, Optics and
Mechanical Engineering Informatics,
Faculty of Mechanical Engineering,
Budapest University of
Technology and Economics,
Budapest H-1521, Hungary
e-mail: budaicsaba@mogi.bme.hu
Mechanical Engineering Informatics,
Faculty of Mechanical Engineering,
Budapest University of
Technology and Economics,
Budapest H-1521, Hungary
e-mail: budaicsaba@mogi.bme.hu
Search for other works by this author on:
László L. Kovács,
László L. Kovács
Department of Mechanical Engineering
and Centre for Intelligent Machines,
McGill University,
Montréal, QC H3A 0C3, Canada
e-mail: laszlo.kovacs@mcgill.ca
and Centre for Intelligent Machines,
McGill University,
817 Sherbrooke Street
, West,Montréal, QC H3A 0C3, Canada
e-mail: laszlo.kovacs@mcgill.ca
Search for other works by this author on:
József Kövecses
József Kövecses
Department of Mechanical Engineering
and Centre for Intelligent Machines
McGill University,
Montréal, QC H3A 0C3, Canada
e-mail: jozsef.kovecses@mcgill.ca
and Centre for Intelligent Machines
McGill University,
817 Sherbrooke Street
, West,Montréal, QC H3A 0C3, Canada
e-mail: jozsef.kovecses@mcgill.ca
Search for other works by this author on:
Csaba Budai
Department of Mechatronics, Optics and
Mechanical Engineering Informatics,
Faculty of Mechanical Engineering,
Budapest University of
Technology and Economics,
Budapest H-1521, Hungary
e-mail: budaicsaba@mogi.bme.hu
Mechanical Engineering Informatics,
Faculty of Mechanical Engineering,
Budapest University of
Technology and Economics,
Budapest H-1521, Hungary
e-mail: budaicsaba@mogi.bme.hu
László L. Kovács
Department of Mechanical Engineering
and Centre for Intelligent Machines,
McGill University,
Montréal, QC H3A 0C3, Canada
e-mail: laszlo.kovacs@mcgill.ca
and Centre for Intelligent Machines,
McGill University,
817 Sherbrooke Street
, West,Montréal, QC H3A 0C3, Canada
e-mail: laszlo.kovacs@mcgill.ca
József Kövecses
Department of Mechanical Engineering
and Centre for Intelligent Machines
McGill University,
Montréal, QC H3A 0C3, Canada
e-mail: jozsef.kovecses@mcgill.ca
and Centre for Intelligent Machines
McGill University,
817 Sherbrooke Street
, West,Montréal, QC H3A 0C3, Canada
e-mail: jozsef.kovecses@mcgill.ca
1Corresponding author.
Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received March 7, 2017; final manuscript received April 1, 2018; published online April 27, 2018. Assoc. Editor: Brian Feeny.
J. Comput. Nonlinear Dynam. Jun 2018, 13(6): 061005 (10 pages)
Published Online: April 27, 2018
Article history
Received:
March 7, 2017
Revised:
April 1, 2018
Citation
Budai, C., Kovács, L. L., and Kövecses, J. (April 27, 2018). "Combined Effect of Sampling and Coulomb Friction on Haptic Systems Dynamics." ASME. J. Comput. Nonlinear Dynam. June 2018; 13(6): 061005. https://doi.org/10.1115/1.4039962
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