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Effect of dry friction on vibrations of sampled-data mechatronic systems

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Abstract

In this paper, we derive the solution of the damped oscillator with Coulomb friction, where the damping factor is negative. The aim of this study is to present the stabilization effect of Coulomb friction of an otherwise unstable system. This phenomenon typically occurs in robotic systems, where the dry friction in the drivetrain of the arms compensates for the possible instability caused by the sampling time in the digital controller. The results help to recognize the interplay of these phenomena just by looking at the peculiar qualitative picture of the corresponding vibration signals.

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Acknowledgements

The research work reported here was supported by the MTA-BME Research Group on Dynamics of Machines and Vehicles, the Natural Sciences and Engineering Research Council of Canada, and the Fonds de Recherche du Québec—Nature et Technologies. The support is gratefully acknowledged.

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Authors and Affiliations

  1. Department of Mechatronics, Optics and Mechanical Engineering Informatics, Faculty of Mechanical Engineering, Budapest University of Technology and Economics, Budapest, 1521, Hungary

    Csaba Budai

  2. Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, 817 Sherbrooke Street West, Montréal, QC, H3A 0C3, Canada

    László L. Kovács & József Kövecses

  3. Department of Applied Mechanics, Faculty of Mechanical Engineering, Budapest University of Technology and Economics, Budapest, 1521, Hungary

    Gábor Stépán

  4. MTA-BME Research Group on Dynamics of Machines and Vehicles, Hungarian Academy of Sciences, Budapest, 1521, Hungary

    László L. Kovács & Gábor Stépán

Authors
  1. Csaba Budai
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  2. László L. Kovács
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  3. József Kövecses
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  4. Gábor Stépán
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Correspondence to Csaba Budai.

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Budai, C., Kovács, L.L., Kövecses, J. et al. Effect of dry friction on vibrations of sampled-data mechatronic systems. Nonlinear Dyn 88, 349–361 (2017). https://doi.org/10.1007/s11071-016-3246-7

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  • DOI: https://doi.org/10.1007/s11071-016-3246-7

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