• Tribology and Lubricants
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• v.31 no.1
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• pp.6-12
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• 2015

This paper investigates the stick-slip characteristic of magnetorheological elastomer (MRE) between an aluminum plate and the surface of the MRE. MRE is a smart material and it can change its mechanical behavior with the interior iron particles under the influence of an applied magnetic field. Stick-slip is a movement of two surfaces relative to each other that proceeds as a series of jerks caused by alternate sticking from friction and sliding when the friction is overcome by an applied force. This special tribology phenomenon can lead to unnecessary wear, vibration, noise, and reduced service life of work piece. The stick-slip phenomenon is avoided as far as possible in the field of mechanical engineering. As this phenomenon is a function of material property, applied load, and velocity, it can be controlled using the characteristics of MRE. MRE as a soft smart material, whose mechanical properties such as modulus and stiffness can be changed via the strength of an external magnetic field, has been widely studied as a prospective replacement for general rubber in the mechanical domain. In this study, friction force is measured under different loads, speed, and magnetic field strength. From the test results, it is confirmed that the stick-slip phenomenon can be minimized under optimum conditions and can be applied in various mechanical components.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1062-1072
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• 2008

When mobile robots perform the mission in the rough terrain, the traversability depended on the terrain characteristic is useful information. In the traversabilities, wheel-terrain maximum friction coefficient can indicate the index to control wheel-terrain traction force or whether mobile robots to go or not. This paper proposes estimating wheel-terrain maximum friction coefficient. The existing method to estimate the maximum friction coefficient is limited in flat terrain or relatively easy driving knowing wheel absolute velocity. But this algorithm is applicable in rough terrain where a lot of slip occurred not knowing wheel absolute velocity. This algorithm applies the tire-friction model to each wheel to express the behavior of wheel friction and classifies slip-friction characteristic into 3 major cases. In each case, the specific algorithm to estimate the maximum friction coefficient is applied. To test the proposed algorithm's feasibility, test bed(ROBHAZ-6WHEEL) simulations are performed. And then the experiment to estimate the maximum friction coefficient of the test bed is performed. To compare the estimated value with the real, we measure the real maximum friction coefficient. As a result of the experiment, the proposed algorithm has high accuracy in estimating the maximum friction coefficient.

• The Journal of Korea Robotics Society
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• v.10 no.4
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• pp.193-199
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• 2015

This paper dealt with a pincers-type gripper being able to grip a heavy-weighted cylindrical object having various size with itself. This gripper should be designed to seize the objects without any change of jaw shape. Grasping achieved equilibrium after the object slipped on the jaw while grasping it. To cope with this situation, we suggested the slip considered gripper design procedure based on grasping equilibrium. The obtained slip condition can provide a limit friction coefficient depending on the contact angle when initiating contact between jaw and object. Consequently, the gripping force and the required actuating force can be calculated. In order to verify the proposed slip condition, the simulations were performed using a dynamic software.

• Structural Engineering and Mechanics
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• v.4 no.3
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• pp.313-329
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• 1996

A mathematical model of a cable as a system of interacting wires with interwire friction taken into account is presented in this paper. The effect of friction forces and the interwire slip on the mechanical properties of tension cables is investigated. It is shown that the slip occurs due to the twisting and bending deformations of wires, and it occurs in the form of micro-slips at the contact patches and macro-slips along the cable. The latter slipping starts near the terminals and propagates towards the middle of the cable with the increase of tension, and its propagation is proportional to the load. As the result of dry friction, the load-elongation characteristics of the cable become quadratic. The energy losses during the extension are shown to be proportional to the cube of the load and in inverse proportion to the friction force, a result qualitatively similar to that for lap joints. Presented examples show that the model is in qualitative agreement with the known experimental data.

• Journal of Korean Association for Spatial Structures
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• v.15 no.3
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• pp.103-110
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• 2015

Various hybrid dampers have been developed as increasing tall buildings in Korea. To minimize the installment space and cost, the new hybrid friction damper was developed using friction components. It is composed of two one-nodal rotary frictional components and a slotted bolted frictional connection. Because of these components, hybrid friction damper can be activated by building movements due to lateral forces such as a wind and earthquake. In this paper, displacement amplitude dependency tests were carried out to evaluate on the structural performance and the multi-slip mechanism of the hybrid damper. Test results show that the multi-slip mechanism is verified and friction coefficients are increasing as displacement amplitudes are increasing.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.10
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• pp.555-562
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• 2000

We propose an adaptive nonlinear control algorithm for compensation of the stick-slip friction in a dynamic system. The friction force and mass of the system are estimated and compensated by adaptive control law. Especially, as the nonlinear control input in a small tracking error zone is enlarged by the nonlinear function, the steady state error is significantly reduced. The proposed algorithm is a direct adaptive control method based on the Laypunov stability theory, and its convergence is guaranteed under the bounded noise or torque disturbance. We verified the performance of the proposed algorithm by computer simulation on one-DOF mechanical system with friction.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.3 s.96
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• pp.109-115
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• 1999

This paper presents a stabilization control designed to improve position stabilization performance of a position servo-system(turret) mounted on a manuvering platform(vehicle). In the consideration of the motion of the platform, a dynamic model of the stabilization system is derived and shows the viscous and stick-slip friction torques are the major source of stabilization errors. An extended generalized minimum variance control which consists of a feedforward disturbance compensation as well as a pole placement feedback control is suggested to reduce the stabilization errors caused from the friction disturbances. This modeling and control are applied to a small experimental set-up and the experimental results confirm the accuracy of the model and the effectiveness of the suggested control.

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.6
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• pp.226-233
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• 1998

In this paper, an experimental study was performed to investigate the speed ratio-torque-thrust characteristics for metal belt CVT. It is observed from the experimental results that nondimensional secondary thrust force follows with the existing theoretical formula with ${\mu}$=0.09~0.12 depending on the torque and the speed ratio. In order to represent these characteristics, an effective friction coefficient was introduced. Also, the slip characteristics between the belt and the pulley were investigated experimentally and traction coefficients at gross slip were obtained for various speed ratios. Using the traction coefficients and the effective friction coefficients, an improved formula for the secondary thrust force was suggested assuming that thrust force is the summation of the thrust of pseudo inactive arc and the thrust of pseudo active arc. The effective friction coefficient and the improved formula for the speed ratio-torque-thrust relationship suggested in this work can be used to obtain the appropriate secondary thrust.

• Tribology and Lubricants
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• v.23 no.6
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• pp.266-271
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• 2007

The brake performance of sintered friction materials for the high speed train was studied. In this study, newly developed sintered materials based on copper were compared with the commercial products for high speed trains. They were tested on a 1/5 scale dynamometer using low carbon steel disks. Effectiveness, fade, and recovery tests were carried out to examine friction performance and the change of disk thickness variation (DTV) during brake applications and noise propensity were also evaluated. Results showed that the two sintered friction materials exhibit similar friction coefficients and braking performance, whereas the newly developed friction material was superior in terms of DTV generation and noise propensity to the commercial friction material. The improvement of the newly developed friction material was attributed to the high graphite content which reduced the stick-slip phenomena and prevented uneven disk wear by producing friction films on the counter disk.

• Tribology and Lubricants
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• v.14 no.1
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• pp.70-78
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• 1998

Two different friction materials (organic and low-metallic pads) for automotive brakes were studied to investigate the anti-fading phenomena during stop. The anti-fading phenomena were pronounced more in the case of using low metallic friction materials than organic friction materials. The main cause of the anti-fading phenomena was the high dependence of friction coefficient on a sliding speed. The anti-fading was prominent when the initial brake temperature was high in the case of low-metallic friction materials due to the strong stick-slip event at high temperature. On the other hand, the anti-fading was not severe in organic friction materials and the effect was reduced at high braking temperature due to the thermal decomposition of organic friction materials. The strong stickslip phenomena of low metallic friction materials at high temperature induced high torque oscillations during drag test. During this experiment two different braking control modes (pressure controlled and torque controlled modes) were compared. The type of the control mode used for brake test significantly affected the friction characteristics.