A numerical dynamic behaviour model for 3D contact problems with friction
A numerical dynamic behaviour model for 3D contact problems with friction
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DOI：
10.1016/j.commatsci.2014.05.072
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发表时间：
2014-11
影响因子：
3.3
通讯作者：
N. Pop;N. Pop;L. Vlădăreanu;I. Popescu;C. Ghita;Alexandru Gal;S. Cang;Hongnian Yu;V. Bratu;M. Deng
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文献类型：
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作者：
N. Pop;N. Pop;L. Vlădăreanu;I. Popescu;C. Ghita;Alexandru Gal;S. Cang;Hongnian Yu;V. Bratu;M. Deng
本文提出了一种新的状态检测算法，用于检测粘滑运动中滑移状态的转变或解的崩溃，并研究了属于接触区域的节点的状态转变：粘滞、滑移或开放接触状态。设计了一个MatLab Simulink程序，对摩擦系数分别为0.5、0.75和0.9的三种接触面材料进行了有限元接触分析，模拟了滑移-粘滞转变的发生条件。该方法能够检测粘滑运动，并隐含了模型的数值不稳定性。将该方法应用于不确定、未知和非结构表面上行走机器人的控制，确定了接触材料摩擦系数对滑移-粘滞转变的发生条件。仿真结果表明，通过对三维摩擦接触问题动力学行为的数值模拟，可以检测出行走机器人在不平坦地形上的滑移/粘滑现象，从而提高机器人的实时控制能力，从而预测和避免机器人的倾覆。
This paper proposes a novel algorithm for the condition detection in which the slip state transitions in a stick–slip motion, or the solution breaks down and also to study the state transition of nodes belonging to the contact area: stick, slip or open contact state. We designed a Matlab Simulink program to simulate the occurrence conditions for the slip–stick transition analysing three types of contact surface materials, with respectively 0.5, 0.75 and 0.9 friction coefficients, using finite element contact. The proposed method is able to detect the stick–slip motion and implicit the numerical instability of the model. By applying this method to control walking robots on uncertain, unknown and unstructured surfaces, the occurrence conditions for the slip–stick transition depending on the friction coefficient of contact material were determined. The presented simulations demonstrates through a numeric modelling of the dynamic behaviour of 3D contact problems with friction we can detect the slip/stick phenomenon for a walking robot motion on a uneven terrain, so it can improve the real time control in order to predict and avoid robot overthrow.