This paper considers the issue of modeling the pivot nonlinearity in a typical hard disk drive, taking into account viscous friction, Coulomb friction and hysteresis effects. It presents a nonlinear compensator design, based on a proposed model, to make the compensated system behave like a double integrator regardless of the magnitude of the input current. It describes extensive experiments, ca...

The goal is to analyze the semi-smooth Newton method applied to the solution of contact problems with friction in two space dimensions. The primal-dual algorithm for problems with the Tresca friction law is reformulated by eliminating primal variables. The resulting dual algorithm uses the conjugate gradient method for inexact solving of inner linear systems. The globally convergent algorithm b...

We present a unified treatment for modeling Coulomb and viscous friction within multi-rigid body simulation using the principle of maximum dissipation. This principle is used to build two different methods—an event-driven impulse-based method and a time stepping method—for modeling contact. The same principle is used to effect joint friction in articulated mechanisms. Experiments show that the ...

The paper deals with shape optimization of dynamic contact problem with Coulomb friction for viscoelastic bodies. The mass nonpenetrability condition is formulated in velocities. The friction coefficient is assumed to be bounded. Using material derivative method as well as the results concerning the regularity of solution to dynamic variational inequality the directional derivative of the cost ...

Analysis and estimation of friction and compensation for its effects in the control of an electrohydraulic manipulator is addressed in this paper. The specific hydraulic manipulator is an integral part of an automated fish processing machine which has been developed in our laboratory. The analysis reveals that considerable static and dynamic friction exists in the system. An available nonlinear...

A linear complementarity formulation for dynamic multi-rigid-body contact problems with Coulomb friction is presented. The formulation, based on explicit Euler integration and polygonal approximation of the friction cone, is guaranteed to have a solution for any number of contacts and contact con guration. A model with the same property is formulated for impact problems with friction and nonzer...

We describe a 2D spring-block model for the transition from static to kinetic friction at an elastic-slider-rigid-substrate interface obeying a minimalistic friction law (Amontons-Coulomb). By using realistic boundary conditions, a number of previously unexplained experimental results on precursory microslip fronts are successfully reproduced. From the analysis of the interfacial stresses, we d...

The existence and (non-)uniqueness of rigid multibody problems with impact, contact and friction is discussed by means of the renowned Painlevé paradox. Different approaches to solve such contact problems, their pros and cons and their connections are discussed.

In this research work, a 3D numerical modeling technique is proposed based on the 3D particle flow code in order to investigate the failure mechanism of rock foundations. Two series of footings with different geometries and areas are considered in this work. The failure mechanism obtained is similar to that of the Terzaghi’s but there is a negligible difference in between. Lastly, one equation ...