Friction-Inclusive Modeling of Sliding Contact Transmission Systems in Robotics

TY - JOUR

T1 - Friction-Inclusive Modeling of Sliding Contact Transmission Systems in Robotics

AU - Mablekos-Alexiou, Anestis

AU - Da Cruz, Lyndon

AU - Bergeles, Christos

PY - 2020/12/14

Y1 - 2020/12/14

N2 - This paper presents a unified mathematical approach for modeling, identifying, and solving the friction-inclusive dynamics of robotic mechanisms driven by sliding contact transmission systems. This approach is applied to the most common industrial screw-based drives: 1) the worm drive, 2) the simple lead screw drive, and 3) the anti-backlash lead screw drive. The resulting dynamics, handily transferable to single and multiple degree of freedom (DoF) manipulators, are complemented with an algorithm for the solution of the forward dynamics problem as well as a framework for friction identification based on non-linear optimization. The presented theory is experimentally tested on single-DoF screw-based drives for a variety of payloads and at different operation speeds. Simulation and parameter identification results using the classical Coulomb model, the Coulomb model with Stribeck friction, and the Armstrong model with Stribeck friction, rising static friction, and frictional memory, are compared with experimental data, showcasing the effectiveness of the presented approach towards framing the concepts of friction and motion transmission into a robotics setting.

AB - This paper presents a unified mathematical approach for modeling, identifying, and solving the friction-inclusive dynamics of robotic mechanisms driven by sliding contact transmission systems. This approach is applied to the most common industrial screw-based drives: 1) the worm drive, 2) the simple lead screw drive, and 3) the anti-backlash lead screw drive. The resulting dynamics, handily transferable to single and multiple degree of freedom (DoF) manipulators, are complemented with an algorithm for the solution of the forward dynamics problem as well as a framework for friction identification based on non-linear optimization. The presented theory is experimentally tested on single-DoF screw-based drives for a variety of payloads and at different operation speeds. Simulation and parameter identification results using the classical Coulomb model, the Coulomb model with Stribeck friction, and the Armstrong model with Stribeck friction, rising static friction, and frictional memory, are compared with experimental data, showcasing the effectiveness of the presented approach towards framing the concepts of friction and motion transmission into a robotics setting.

M3 - Article

SN - 1552-3098

SP - 1

JO - IEEE TRANSACTIONS ON ROBOTICS

JF - IEEE TRANSACTIONS ON ROBOTICS

ER -