We present a new method of neural friction compensa tion in manipulator control especially during dynamic tasks with de ned contact to external environment Such manipulator movements involve internal joint friction and external friction between tool and environment The suggested method compensates friction caused dis turbances by means of neural networks Based on a minimal friction model Lyapun...

We present the tip and friction forces acting on a needle during penetration into a canine prostate, independently measured by a 7-axis load cell newly developed for this purpose. This experimental apparatus clarifies the mechanics of needle penetration, potentially improving the development of surgical simulations. The behavior of both tip and friction forces can be used to determine the mecha...

The importance of machining process in today’s industry requires the establishment of more practical approaches to clearly represent the intimate and severe contact on the tool-chipworkpiece interfaces. Mathematical models are developed using the measured force signals to relate each of the tool-chip friction components on the rake face to the operating cutting parameters in rough turning opera...

To demonstrate the influence of sliding friction of motion on a curve, a circular path is considered for simplicity on which a person slides from the highest point to the lowest point. A slide which represents a quadrant of radius 5 m and a person of mass 60 kg are considered for comparison in this paper. A Differential equation for motion considering the fact that the normal force depends both...

OBJECTIVE To compare the influence of archwire material (NiTi, beta-Ti and stainless steel) and brackets design (self-ligating and conventional) on the frictional force resistance. MATERIAL AND METHODS Two types of brackets (self-ligating brackets - Smartclip, 3M/Unitek - and conventional brackets - Gemini, 3M/Unitek) with three (0, 5, and 10 degrees) slot angulation attached with elastomeric...

In this paper, a beam-membrane (BM) sensor for measuring friction torque in micro-electro-mechanical system (MEMS) gas bearings is presented. The proposed sensor measures the force-arm-transformed force using a detecting probe and the piezoresistive effect. This solution incorporates a membrane into a conventional four-beam structure to meet the range requirements for the measurement of both th...

A modified model for predicting the friction force between drill-string and borehole wall under in-plane vibrations was developed. It was found that the frictional coefficient in sliding direction decreased significantly after applying in-plane vibration on the bottom specimen. The friction reduction is due to the direction change of friction force, elastic deformation of surface asperities and...

The axial force measurement plays important role in tool designing and identification of its restrictions. Also, it is vital in design of machine mechanism and optimization of welding process parameters. In this study, a friction stir welded butt join on AA7075-T651 aluminum alloy plate is investigated. With change of some parameters, factors including axial force, mechanical properties, microh...

Tire-road friction is estimated using the wheel-slip computed from standard sensor signals. A parametric model is estimated using an adaptive lter supported by a fault detector. Results from extensive eld trials are presented. An approach to estimate the tire{road friction during normal drive using only the wheel slip, that is, the relative diierence in wheel velocities, is presented. The drive...

An experimental characterization of friction forces between asymmetric surfaces in the micro-regime is presented. The lateral motion and force-measurement capability of an instrumented indenter (triboindenter) is characterized and explored for determining friction properties at low velocities. Friction experiments are performed using the triboindenter with high repeatability. It is observed tha...