Abstract
In this paper we study combined translational and rotational (general) motion of planar rigid bodies in the presence of dry coulomb friction contact. Despite the cases where the body has pure translational/ rotational motion or can be assumed as a point mass, during the general motion, distinct points of the rigid body move in different directions which cause the friction force vector at each point to be different. Therefore, the direction and the magnitude of the overall friction force cannot be intuitively defined. Here the concept of instantaneous center of rotation is used as an effective method to determine the resultant friction force and moment. The main contribution of this paper is to propose novel stick-slip switching conditions for the general in-plane motion of rigid bodies. Simulation results for some combination of external forces are provided and some experimental tests are designed and conducted for practical verification of the proposed stick-slip conditions.
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Recommended by Associate Editor Cheolung Cheong
Iman Kardan received his B.Sc. and M.Sc. degree in Mechanical Engineering from Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran in 2008 and 2011, respectively. Since 2008, he has been a research assistant in the System Dynamics and Control Research Laboratory, mechanical engineering department, Amirkabir University of Technology. His research interest is in the area of robotics, microrobotics, control and smart materials.
Mansour Kabganian received his B.Sc. from Amirkabir University of Technology (Tehran Polytechnic), Tehran, Iran, in 1975, M.Sc. from University of Tarbiat Modarres, Tehran, in 1988, and Ph.D. from the University of Ottawa, Ottawa, Canada, in 1995, all in mechanical engineering. He joined the Department of Mechanical Engineering at Amirkabir University of Technology in 1988, where he is a Professor and the Head of the System Dynamics and Control Research Laboratory. He is also the Head of the Space Dynamics and Control Research Center, which he established in 2009. His main research interests are control, stability, and dynamical systems such as spacecrafts, vehicles, and microrobotics.
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Kardan, I., Kabganian, M., Abiri, R. et al. Stick-slip conditions in the general motion of a planar rigid body. J Mech Sci Technol 27, 2577–2583 (2013). https://doi.org/10.1007/s12206-013-0701-y
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DOI: https://doi.org/10.1007/s12206-013-0701-y