Friction is the result of complex interactions between contacting surfaces in a nanoscale perspective. Depending on the application, the di erent models available are more or less suitable. Static friction models are typically considered to be dependent only on relative speed of interacting surfaces. However, it is known that friction can be a ected by other factors than speed. In this paper, t...

(57) ABSTRACT Metallic materials may be joined utilizing a friction stir processing teclmique. The friction stir processing technique utilizes a shaped, rotating tool to move material from one side of the joint to be welded to the other without liquefying the base material.

In this article, an intelligent compensation control algorithm for low-speed robot joint with dynamic friction was proposed based on self-recurrent wavelet neural networks (SRWNN). It is not necessary to predict the dynamic model parameters, and the high-precision compensation of nonlinear friction is realized by using few neurons and iterations through only position feedback. Lyapunov stabilit...

A technique to design a dynamic continuous controller to regulate a class of full-actuated mechanical systems with dry friction is proposed. It is shown that the control eliminates the steady-state error and is robust with respect to parameter uncertainties. A simple method to find the parameters of the controller is also proposed. Moreover, an application of this result to control a 2-DOF unde...

Joint friction is a major problem in accurately controlling robot position during manipulator tasks involving small and slow motions. Previous research in this field suggests the use of either complex modeling and identification techniques, or expensive and delicate torque sensors that must be integrated into the manipulator. This paper proposes a simple, cost-effective method for compensating ...

This thesis considers the control of a heavy-lift serial manipulator operating on the deck of a large ocean vessel. This application presents a unique challenge for highprecision control because the system must contend with both high levels of joint friction and oscillatory motions in the manipulator's base. Due to the uncontrolled outdoor environment, the behavior of these disturbances in the ...

Low-friction surfaces are critical for efficient joint articulation. The tribological properties of articular cartilage have been studied extensively in native tissue and joints. Despite their importance, very few studies have examined the frictional properties of tissue-engineered cartilage. We have therefore reviewed the relationship between composition, structure and friction in tissue-engin...

Mechanical joints, such as the bolted shear lap joint considered here, are ubiquitous in engineered structures, which realize vibration damping as well as load transfer from them. However, the prediction of the energydissipation characteristics of such joints remains a challenging problem. A cubic relationship between energy dissipated and load magnitude is often assumed in classical joint dyna...