This study focusses on the vibration transmission and energy flow characteristics of low dimensional models dynamical systems with Coulomb friction. The Karnopp friction model smooth are employed to estimate dry force. steady-state responses system determined by harmonic balance (HB) approximations numerical continuations a time-marching method. level dissipation within assessed force transmiss...

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...

snake robots are hyper-redundant robots that are connected with one or two dof joints. they offer a number of potential advantages beyond the capabilities of most wheeled and legged robots. in this paper, kinematics and dynamics of a planar multi-link snake robot in worm-like locomotion on an inclined surface is investigated. in this locomotion, snake robot is able to move in the vertical plane...

We investigated the orbital evolution of satellite galaxies using numerical simulations. It has been long believed that the orbit suffers circularization due to the dynamical friction from the galactic halo during orbital decay. This circularization was confirmed by numerous simulations where dynamical friction is added as external force. However, some of the resent N -body simulations demonstr...

In this paper the interface behaviour between steel and concrete, during pull out tests, is numerically investigated using an interface model coupling adhesion and friction. This model (RCCM) was developed by Raous, Cangémi, Cocu and Monerie. It is based on the adhesion intensity variable, introduced by Frémond, which is a surface damage variable and its values vary between zero (no adhesion) a...

We consider the rate-independent problem of a particle moving in a three dimensional half space subject to a time-dependent nonlinear restoring force having a convex potential and to Coulomb friction along the flat boundary of the half space, where the friction coefficient may vary along the boundary. Our existence result allows for solutions that may switch arbitrarily often between unconstrai...

This paper presents a practical feedback controller design of a ball screw-driven table system for the microdisplacement positioning. Friction of the mechanism in the micro-displacement region has nonlinear elastic properties, unlike Coulomb and/or viscous friction in the macro-displacement, resulting in different positioning responses and frequency characteristics of the plant depending on the...

A 2-dimensional, elastic-plastic finite element model has been developed to simulate plasticity induced crack closure in slanted and deflected cracks growing outside the small scale yielding (SSY) regime. The finite element model allows for contact between deformable surfaces to capture the complex contact interaction between the crack faces. Coulomb’s friction law has been used to model fricti...

Analytical and numerical modeling of the nonlinear interaction of shear wave with a frictional interface is presented. The system studied is composed of two homogeneous and isotropic elastic solids, brought into frictional contact by remote normal compression. A shear wave, either time harmonic or a narrow band pulse, is incident normal to the interface and propagates through the contact. Two f...

Chaotic oscillators with Coulomb-type friction were extensively studied in the past. However, these investigations mostly deal with rather complex mechanical models that are closely related to everyday’s engineering applications. In the present paper, we introduce a stick-slip oscillator consisting only of a spring and a block sliding on a rough surface, and the block is periodically forced. A ...