Modelling and dynamic analysis of underactuated capsule systems with friction-induced hysteresis

Liu, Pengcheng and Yu, Hongnian and Cang, Shuang (2016) Modelling and dynamic analysis of underactuated capsule systems with friction-induced hysteresis. In: Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, 9-14 Oct 2016, Daejeon, South Korea.

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(2016) Modelling and Dynamic Analysis of Underactuated Capsule Systems with Friction-Induced Hysteresis.pdf

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Abstract

This paper studies modelling and dynamic analysis of underactuated capsule systems
exhibiting friction-induced hysteresis. The motion mechanism is novel in utilizing internal
centripetal torques generated by a vibration micro-motor mounted on the platform. Up to
now, most investigations in frictional interactions towards capsule systems were confined
into static or quasi-dynamic circumstance, where it is difficult to facilitate online use and
control. It is the first time the dynamic frictional characteristics (non-reversible drooping and
hysteresis) are studied towards these systems. An analytical study is primarily conducted to
reveal the non-reversible characteristic for the static friction, the pre-sliding regime as well as
the pure sliding regime, and the frictional limit boundaries are identified. Subsequently, the
studies are mainly focused on dynamic analysis, including friction-driven vibrational …

Keywords:Force, Mathematical model, Dynamics, Vibration, Analytical models, Springs
Subjects:H Engineering > H310 Dynamics
H Engineering > H342 Vibration
H Engineering > H660 Control Systems
Divisions:College of Science
ID Code:31373
Deposited On:21 Mar 2018 10:33

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