An Effective Method for Modeling Stiction in Multibody Dynamic Systems

[+] Author and Article Information
R. G. Synnestvedt

NASA Ames Research Center, CTAS Automation Lab, Moffett Field, CA 94035

J. Dyn. Sys., Meas., Control 118(1), 172-176 (Mar 01, 1996) (5 pages) doi:10.1115/1.2801141 History: Received June 01, 1992; Revised July 01, 1994; Online December 03, 2007


This paper presents an effective method for developing dynamic equations which realistically model dynamics of multibody mechanical systems with stiction, or stick-slip friction. This method is used in three examples—a mass-spring system, a top, and a robot linkage—to illustrate the facility with which the method is implemented. The method dynamically partitions sets of dynamic equations to model a system through discontinuities, changes in degrees of freedom and changes in states. Comparisons of this method with others is presented for simple and complex systems.

Copyright © 1996 by The American Society of Mechanical Engineers
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