Related papers: First-order friction models with bristle dynamics:…
Accurately modeling friction in robotics remains a core challenge, as robotics simulators like MuJoCo and PyBullet use simplified friction models or heuristics to balance computational efficiency with accuracy, where these simplifications…
This paper extends the distributed rolling contact FrBD framework to linear viscoelasticity by considering classic derivative Generalised Maxwell and Kelvin-Voigt rheological representations of the bristle element. With this modelling…
This paper develops a comprehensive two-dimensional generalisation of the recently introduced Friction with Bristle Dynamics (FrBD) framework for rolling contact problems. The proposed formulation extends the one-dimensional FrBD model to…
In [1], a new modeling paradigm for developing rate-and-state-dependent, control-oriented friction models was introduced. The framework, termed Friction with Bristle Dynamics (FrBD), combines nonlinear analytical expressions for the…
Dynamic components of the friction may directly impact the stability and performance of the motion control systems. The LuGre model is a prevalent friction model utilized to express this dynamic behavior. Since the LuGre model is very…
During planar motion, contact surfaces exhibit a coupling between tangential and rotational friction forces. This paper proposes planar friction models grounded in the LuGre model and limit surface theory. First, distributed planar extended…
We investigate the dynamics of kinetically constrained models of glass formers by analysing the statistics of trajectories of the dynamics, or histories, using large deviation function methods. We show that, in general, these models exhibit…
In the Fourth Industrial Revolution, wherein artificial intelligence and the automation of machines occupy a central role, the deployment of robots is indispensable. However, the manufacturing process using robots, especially in…
Precise identification of dynamic models in robotics is essential to support control design, friction compensation, output torque estimation, etc. A longstanding challenge remains in the identification of friction models for robotic joints,…
This paper introduces a novel family of single-track vehicle models that incorporate a distributed representation of transient tyre dynamics, whilst simultaneously accounting for nonlinear effects induced by friction. The core of the…
Lumped parameter methods aim to simplify the evolution of spatially-extended or continuous physical systems to that of a "lumped" element representative of the physical scales of the modeled system. For systems where the definition of a…
A tribological system consisting of two contacting blocks has been considered. One of them is arranged between two springs, the other is driven periodically. The kinetics of the system has been studied in the boundary friction mode, when an…
The linear-frictional contact model is the most commonly used contact mechanism for discrete element (DEM) simulations of granular materials. Linear springs with a frictional slider are used for modeling interactions in directions normal…
This study presents a fractional-order continuum mechanics approach that allows combining selected characteristics of nonlocal elasticity, typical of classical integral and gradient formulations, under a single frame-invariant framework.…
We perform extended numerical simulation of the dynamics of dry friction, based on a model derived from the phenomenological description proposed by T. Baumberger et al.. In the case of small deviation from the steady sliding motion, the…
This study presents the formulation, the numerical solution, and the validation of a theoretical framework based on the concept of variable-order mechanics and capable of modeling dynamic fracture in brittle and quasi-brittle solids. More…
Robotic systems operating in unstructured environments must operate under significant uncertainty arising from intermittent contacts, frictional variability, and unmodeled compliance. While recent model-free approaches have demonstrated…
This study investigates the use of fractional order differential models to simulate the dynamic response of non-homogeneous discrete systems and to achieve efficient and accurate model order reduction. The traditional integer order approach…
In order to provide robust, reliable, and accurate position and velocity control of motor drives, friction compensation has emerged as a key difficulty. Non-characterised friction could give rise to large position errors and vibrations…
A novel probabilistic approach for the design of mechanical structures with friction interfaces is proposed. The objective function is defined as the probability that a specified performance measure of the forced vibration response is…