Abstract
In general, the rigid-contact assumption has been used to estimate the frictional moment between two bodies in contact. In a multi-body connection, two types of passive interconnection are considered in this paper, namely pin joint and spherical-ball joint. The joints are assumed to be passive at the localized configuration space of the multi-body systems and are assumed to be actuated remotely. The traditional approach for modelling such frictional contact does not consider the elastic deformation of joints. Two approximate models are presented for both revolute pin joints and spherical-socket ball joints. The proposed models offer a more accurate estimation of the Coulomb frictional moment. The new models offer a compact solution which can be easily extended to other geometrical multi-body contact configurations with various degrees of clearance. The proposed models can be used in the dynamic modelling and control of multi-body systems in frictional contact.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
H. S. Tzou and Y. Rong, Contact dynamics of a spherical joint and a jointed truss-cell system. AAIAA J. 29 (1991) 81–88.
R. H. Sturges and S. Laowattana, A flexible, tendon-control device for endoscopy. Int. J. Robotics Res. 12 (1993) 121–131.
A. Faraz and S. Payandeh, Issues and design concepts in endoscopic extenders. Proc. of 6th IFAC Symp. on Man/Machine Systems. (1995) pp. 109–114.
Y. J. Shin and C. H. Kim, An analytical solution for spherical joint mechanism including Coulomb friction. 6th Int. Pacific Conf. Autom. Eng. (1991) 383–389.
L. J. Gutkowski and G. L. Kinzel, A Coulomb friction model for spherical joints. ASME DE 45 (1992) 243–250.
I. Imam, M. Skrenier and J. P. Sadler, A new solution to Coulomb friction in bearing mechanism: Theory and application. Trans. ASME 103 (1981) 764–775.
S. A. Lukowski, L. A. Medeksza and P. W. Claar, II, Geometry of contact and Hertzian stress analysis of frictional coupling elements of multidisk stepless transmission with initial point contact. Trans. ASME, J. Mech. Design 113 (1991) 416-420.
H. Huang and B. Ravani, Contact stress analysis in ball screw mechanism using the tubular medial axis representation of contacting surfaces. Trans. ASME, J. Mech. Design 119 (1997) 8–16.
J. F. Cuttino and T. A. Dow, Contact between elastic bodies with an elliptic contact interface in torsion. Trans. ASME, J. Appl. Mech. 63 (1996) 144–152.
J. J. Kalker, F. M. Dekking and E. A. H. Vollebregt, Simulation of rough, elastic contacts. Trans. ASME, J. Appl. Mech. 64 (1997) 361–372.
M. T. Hanson and I. W. Puja, The elastic field resulting from elliptical Hertzian contact of transversely isotropic bodies: closed-form solutions for normal and shear loading. Trans. ASME, J. Appl. Mech. 64 (1997) 457–465.
K. L. Johnson, Contact Mechanics. Cambridge: Cambridge University Press. (1985) 452 pp.
R. G. Budyans, Advanced Strength and Applied Stress Analysis. New York: McGraw-Hill (1977) 960 pp.
P. F. Byrd and M.D. Friedman, Handbook of Elliptic Integrals for Engineers and Scientists. Berlin: Springer-Verlag 358 pp.
C. Lipson and R. Juvinall, Handbook of Stress and Strength. MacMillan (1963) 447 pp.
Author information
Authors and Affiliations
Rights and permissions
About this article
Cite this article
Faraz, A., Payandeh, S. Towards approximate models of Coulomb frictional moments in: (I) revolute pin joints and (II) spherical-socket ball joints. Journal of Engineering Mathematics 40, 283–296 (2001). https://doi.org/10.1023/A:1017545030199
Issue Date:
DOI: https://doi.org/10.1023/A:1017545030199