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Research Papers

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
e-mail: budaicsaba@mogi.bme.hu

László L. Kovács

Department of Mechanical Engineering
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,
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 13(6), 061005 (Apr 27, 2018) (10 pages) Paper No: CND-17-1106; doi: 10.1115/1.4039962 History: Received March 07, 2017; Revised April 01, 2018

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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Figures

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Fig. 1

Vibration time history with Coulomb friction

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Fig. 2

The Δt − kp stability chart

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Fig. 5

Stability, passivity, and exact numerical simulation

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Fig. 3

The meff − kp stability chart

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Fig. 4

Switching of discrete mappings

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Fig. 8

Single actuator simulation and experimental results

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Fig. 6

Haptic device (left) with DC motor actuator (right)

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Fig. 7

Commercial haptic device and its model and effective mass

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Fig. 10

Measurement of asymmetric friction torques

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Fig. 9

Simulation and experimental results of commercial device

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