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research-article

Combined Effect of Sampling and Coulomb Friction on Haptic Systems Dynamics

[+] Author and Article Information
Csaba Budai

Department of Mechatronics, Optics and Mechanical Engineering Informatics, Faculty of Mechanical Engineering, Budapest University of Technology and Economics, Budapest, H-1521, Hungary
budaicsaba@mogi.bme.hu

Laszlo Kovacs

Centre for Intelligent Machines, Department of Mechanical Engineering, McGill University, 817 Sherbrooke Street West - Montréal, Québec, Canada
laszlo.kovacs@mcgill.ca

Jozsef Kovecses

Centre for Intelligent Machines, Department of Mechanical Engineering, McGill University, 817 Sherbrooke Street West - Montréal, Québec, Canada
jozsef.kovecses@mcgill.ca

1Corresponding author.

ASME doi:10.1115/1.4039962 History: Received March 07, 2017; Revised April 01, 2018

Abstract

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 non-smooth discontinuity and can induce complex dynamic behaviours. The effect of Coulomb friction is often neglected in haptics. The part of the literature which deals with friction mainly focusing on friction compensation and/or simulation of friction for haptic rendering. In this paper, the nature of the dynamic behaviour 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 behaviour, and show the effects of the haptic system parameters on this dynamics.

Copyright (c) 2018 by ASME
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