Computer Simulation of Stick-Slip Friction in Mechanical Dynamic Systems

[+] Author and Article Information
Dean Karnopp

Department of Mechanical Engineering, University of California, Davis, Calif. 95616

J. Dyn. Sys., Meas., Control 107(1), 100-103 (Mar 01, 1985) (4 pages) doi:10.1115/1.3140698 History: Received December 20, 1984; Online July 21, 2009


Stick-slip friction is present to some degree in almost all actuators and mechanisms and is often responsible for performance limitations. Simulation of stick-slip friction is difficult because of strongly nonlinear behavior in the vicinity of zero velocity. A straightforward method for representing and simulating friction effects is presented. True zero velocity sticking is represented without equation reformulation or the introduction of numerical stiffness problems.

Copyright © 1985 by ASME
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