Abstract
This paper analyses the problem of modelling joint friction in robotic manipulators with gear transmissions in the sliding regime, i.e. at joint velocities varying from close to zero until their maximum appearing values. It is shown that commonly used friction models that incorporate Coulomb, (linear) viscous and Stribeck components are inadequate to describe the friction behaviour for the full velocity range. A new friction model is proposed that relies on insights from tribological models. The basic friction model of two lubricated discs in rolling-sliding contact is used to analyse viscous friction and friction caused by asperity contacts inside gears and roller bearings of robot joint transmissions. The analysis shows different viscous friction behaviour for gears and pre-stressed bearings. The sub-models describing the viscous friction and the friction due to the asperity contacts are combined into two friction models; one for gears and one for the pre-stressed roller bearings. In this way, a new friction model is developed that accurately describes the friction behaviour in the sliding regime with a minimal and physically sound parametrisation. The model is linear in the parameters that are temperature dependent, which allows to estimate these parameters during the inertia parameter identification experiments. The model, in which the Coulomb friction effect has disappeared, has the same number of parameters as the commonly used Stribeck model. The model parameters are identified experimentally on a Stäubli Rx90 industrial robot.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Olsson H, Åström KJ, Canudas de Wit C, Gäfvert M, and Lischinsky P (1998) Eur J Control 4(3):176–195.
Stribeck R (1902) Zeitschrift des Vereines deutcher Ingenieure 46(38,39):1342–1348, 1432–1437.
Bo LC and Pavelescu D (1982) Wear 82(3):277–289.
Armstrong-Hélouvry B (1991) Control of Machines with Friction. Kluwer Academic Publishers, Boston Dordrecht.
Canudas de Wit C, Olsson P, Åström K, and Lischinsky P (1995) IEEE Trans Automat Contr 40(3):419–425.
Hensen RHA, van de Molengracht MJG, and Steinbuch M (2002) IEEE T Contr Syst T 10(2):191–195.
Waiboer RR (2005) Dynamic modelling, identification and simulation of industrial robots for off-line programming of robotised laser welding. PhD thesis (to be published), University of Twente, Enschede, The Netherlands.
Grotjahn M (2003) Kompensation nichtlinearer dynamischer Effecte bei seriellen und parallelen Robotern zur Erhöhnung der Bahngenauigkeit. PhD thesis, Universität Hannover, Germany.
Dowson D and Higginson GR (1977) Elasto-Hydrodynamic Lubrication. Pergamon Press Ltd., Oxford.
Bhushan B (1999) Principles and Applications of Tribology. John Wiley & Sons, New York.
Schipper DJ (1988) Transitions in the lubrication of concentrated contacts. PhD thesis, University of Twente, Enschede, The Netherlands.
Gelinck ERM and Schipper DJ (2000) Tribol Int 33:175–181.
Grubin AN and Vinogradova IE (1949) Central scientific research institute for technology & mechanical engineering. Book No. 30 (D.S.I.R Translation No.337).
Crook AW (1961) Philos Tr R Soc S-A 254(1040):223–236.
Dowson D (1995) Wear 190(2):125–138.
Spikes HA (1999) P I Mech Eng J-J Eng 213(5):335–352.
Greenwood JA and Williamson JBP (1966) Proc R Soc Lon Ser-A 295(1442):300–319.
Bair S and Winer WO (1979) J Lubric Tech-T ASME 101:251–257.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2007 Springer
About this paper
Cite this paper
Jonker, J.B., Waiboer, R.R., Aarts, R.G.K.M. (2007). Modelling of Joint Friction in Robotic Manipulators with Gear Transmissions. In: García Orden, J.C., Goicolea, J.M., Cuadrado, J. (eds) Multibody Dynamics. Computational Methods in Applied Sciences, vol 4. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-5684-0_11
Download citation
DOI: https://doi.org/10.1007/978-1-4020-5684-0_11
Publisher Name: Springer, Dordrecht
Print ISBN: 978-1-4020-5683-3
Online ISBN: 978-1-4020-5684-0
eBook Packages: EngineeringEngineering (R0)