A review of friction models in interacting joints for durability design.

This paper presents a comprehensive review of friction modelling to provide an understanding of design for durability within interacting systems. Friction is a complex phenomenon and occurs at the interface of two components in relative motion. Over the last several decades, the effects of friction and its modelling techniques have been of significant interests in terms of industrial applications. There is however a need to develop a unified mathematical model for friction to inform design for durability within the context of varying operational conditions. Classical dynamic mechanisms model for the design of control systems has not incorporated friction phenomena due to non-linearity behaviour. Therefore, the tribological performance concurrently with the joint dynamics of a manipulator joint applied in hazardous environments needs to be fully analysed. Previously the dynamics and impact models used in mechanical joints with clearance have also been examined. The inclusion of reliability and durability during the design phase is very important for manipulators which are deployed in harsh environmental and operational conditions. The revolute joint is susceptible to failures such as in heavy manipulators these revolute joints can be represented by lubricated conformal sliding surfaces. The presence of pollutants such as debris and corrosive constituents has the potential to alter the contacting surfaces, would in turn affect the performance of revolute joints, and puts both reliability and durability of the systems at greater risks of failure. Key literature is identified and a review on the latest developments of the science of friction modelling is presented here. This review is based on a large volume of knowledge. Gaps in the relevant field have been identified to capitalise on for future developments. Therefore, this review will bring significant benefits to researchers, academics and industrial professionals

Study of the effect of contact force model on the dynamic response of mechanical systems with dry clearance joints : computational and experimental approaches

The main objective of this work is to present a computational and experimental study on the contact forces developed in revolute clearance joints. For this purpose, a well-known slider-crank mechanism with a revolute clearance joint between the connecting rod and slider is utilized. The intra-joint contact forces that generated at this clearance joints are computed by considered several different elastic and dissipative approaches, namely those based on the Hertz contact theory and the ESDU tribology-based for cylindrical contacts, along with a hysteresis-type dissipative damping. The normal contact force is augmented with the dry Coulomb’s friction force. In addition, an experimental apparatus is use to obtained some experimental data in order to verify and validate the computational models. From the outcomes reported in this paper, it is concluded that the selection of the appropriate contact force model with proper dissipative damping plays a significant role in the dynamic response of mechanical systems involving contact events at low or moderate impact velocities.Fundação para a Ciência e a Tecnologia (FCT

Adaptive Pulse Width Control for Precise Positioning Under the Influence of Stiction and Coulomb Friction

For the robustness experiment, the friction is increased by increasing the sealing pressure. The PID control exhibits a large overshoot during the transient state, while the other controllers exhibit no overshoot, as shown in Figs. 4 and 5. In the SMC, errors are reduced very slowly and the steady-state error is relatively large as shown in Fig. 5. Settling times of the PID control, the TDC, and the TDSMC are 3.32 s, 2.96 s, and 1.94 s, respectively, as shown in Figs. 4{b) and 5(^). The PID control and the TDC perform very poorly and their settling times are increased by 90.8 and 105.6 percent, respectively, from their nominal values. On the other hand, the TDSMC performs very well and its settling time is increased only by 9 percent from the nominal value. Therefore, the TDSMC has the best performance robustness. Conclusions The TDSMC which is a combination of the TDC and the SMC is proposed for the system with unknown dynamics and disturbances. This method uses the idea of switching of the sliding mode control while reducing the chattering associated with it. Experiments on the position control of a DC motor system with stick-slip friction, were conducted to evaluate performances of the control algorithms. Experiments show that the TDSMC exhibits the best performance robustness and that the TDC and the TDSMC perform better than the PID control with an anti-windup filter and the integral sliding mode control. 227. Youcef-Touini, K., and Bobbet, J., 1991, "Stability of Uncertain Linear Systems With Time Delay," ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL, Vol. 113, pp. 558-567. Youcef-Toumi, K., and Ito, O., 1990, "A Time Delay Controller for Systems With Unknown Dynamics," ASME JOURNAL OF DYNAMIC SYSTEMS, MEASURE- MENT, AND CONTROL, Vol. 112, Youcef-Toumi, K., and Reddy, S., 1992, "Analysis of Linear Time Invariant Systems With Time Delay," ASME JOURNAL OF DYNAMIC SYSTEMS, MEASURE- MENT, AND CONTROL, Vol. 114, Youcef-Toumi, K., and Wu, S.-T., 1992, "Input/Output Linearization Using Time Delay Control," ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL, Vol. 114, pp. 10-19

Aetiology of bovine abortion in Switzerland from 1986 to 1995 - a retrospective study with emphasis on detection of neospora caninum and toxoplasma gondii by PCR

In a retrospective study, covering the period from 1986 to 1995, tissues of aborted fetuses were re-examined. A total of 347 cases were tested immunohistochemically, among them samples of 223 brains were examined for Neospora caninum, Toxoplasma gondii and Bovine Virus Diarrhoea Virus (BVDV), and 249 placentae for Chlamydiaceae. Two real-time PCR assays, one for N. caninum, and one for T. gondii, were developed. These potential abortion-inducing agents were detected – and confirmed by PCR, except for BVDV – in 16.1% (N. caninum), 0% (T. gondii), 9.9% (BVDV) and 0.8% (Chlamydiales) of the cases examined. Immunohistochemistry proved to be inadequate for the detection of the protozoal epitopes, whereas it was confirmed as a very useful tool for the detection of BVDV. In abortion material, PCR is considered to be more suitable for the detection of protozoa and Chlamydophila abortus, an adequate sampling presupposed

Coulomb Friction Modelling in Numerical Simulations of Vibration and Wear Work Rate of Tube Bundles,"

where yj is the displacement of the y* mode of vibration. Conclusions A force-balance friction model for the simulation of multidegree-of-freedom mechanical systems is presented. Different from others, this model can be applied to systems with twodimensional sticking/slipping friction acting on a surface. No iteration is needed in the simulation to detect the stick/slip state. The present friction model is an extension of Kamopp's model (1985). It is compared with a piecewise continuous solution using classical Coulomb friction. The results demonstrate that the present friction model is reliable in detecting stick/slip states and is effective in reducing numerical chattering due to the discontinuities in friction calculations. The present friction model has recently been used to model sticking/slipping friction forces in a finite element model of a tube, impacting and rubbing against loose-fitting supports (Tan and Rogers, 1996). Acknowledgments The work reported here was supported by Atomic Energy of Canada Limited, as part of its program of work on heat exchanger tube vibration and wear prediction, and NSERC, through a Collaborative R&D grant. The authors also wish to acknowledge the support of the UNB