The term "contact aging" refers to the temporal evolution of the interface between a slider and a substrate usually resulting in increasing friction with time. Current phenomenological models for multiasperity contacts anticipate that such aging is not only the driving force behind the transition from static to sliding friction, but at the same time influences the general dynamics of the slidin...

The dynamic and friction parameters of a redundantly actuated parallel manipulator are identified by using the Weighted Least Square (WLS) method. The dynamic model with nonlinear friction is formulated in the joint space for the parallel manipulator, and it is expressed in its linear matrix form with respect to the dynamic and friction parameters. In the WLS method, the difference algorithm of...

A dynamic model is presented for omnidirectional wheeled mobile robots, including wheel/motion surface slip. We derive the dynamics model, experimentally measure friction coefficients, and measure the force to cause slip (to validate our friction model). Dynamic simulation examples are presented to demonstrate omnidirectional motion with slip. After developing an improved friction model, compar...

|A novel continuous control system is proposed which guarantees robust tracking in nite time for uncertain robot arms subject to unknown dynamic friction. To achive this result, several novel algorithms were combined: a.a dynamic adaptive sliding mode control; b.a time base generator to yield a time-varing gain, which allows to obtain nite time convergence; c.continuous parametrization to compe...

Attempts have been made for the first time to produce a friction material with thermal sensitive modulus by the inclusion of combined plastic/rubber properties of thermoplastic elastomers (TPE) as viscoelastic polymeric materials into the formulation for the purpose of increasing the damping behavior. In order to evaluate the viscoelastic parameters such as loss factor (tan δ) and elastic m...

Abstract. Several robotic system applications require manipulators to carry heavy payloads while operating from moving vehicles. These manipulators are mounted on moving/compliant bases, introducing additional degrees of freedom that are not actuated, increasing the complexity of the dynamic modeling and control. In this paper, a control strategy to improve the performance of mobile robotic man...

Dynamic sliding friction was studied based on the angular velocity of a golf ball during an oblique impact. This study used the analytical model proposed for the dynamic sliding friction on lubricated and non-lubricated inclines. The contact area A and sliding velocity u of the ball during impact were used to describe the dynamic friction force Fd = λAu, where λ is a parameter related to the we...

We simulate dynamic ruptures on a strike-slip fault in homogeneous and layered half-spaces and on a thrust fault in a layered half-space. With traditional friction models, sliding friction exceeds 50% of the fault normal compressive stress, and unless the pore pressures approach the lithostatic stress, the rupture characteristics depend strongly on the depth, and sliding generates large amounts...