• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.60-63
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• 2000

In this study, efficient force reflection algorithm is developed for the Haptic Display by using a proxy concept and friction model. When there are not any contacted obstacles the proxy is following human operator's command trajectory in the 3D virtual space. But when the operator's command trajectory is locating inside of the object, the proxy is constrained by the surface of the object. Here only with the information of the proxy position and operator's command trajectory at every time step, we can calculate the reflection force and its orientation. To display the friction force between two virtual stiff material which are sliding against each other, modified Karnopp's friction model is used. In the friction model, a damping term and a Stribeck effect term are included to display the relative velocity effect and stick-slip effect at the very low relative velocity region respectively.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11a
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• pp.79-84
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• 2001

The motivation behind this work is to understand the phenomenon of friction-induced vibration and squeal due to misalignment. In present paper, it is studied on effect of misalignment between friction-induced vibration and squeal by an experiment using a pin-on-disk type experimental apparatus. In order to build an analytical model of the friction-induced vibration system with misalignment, the system is modeled as a single-DOF and 3-DOF system. The results show that the single DOF system can only show stick／slip phenomenon, but the 3-DOF system can show squeal due to misalignment. Consequently, it can be said that the misalignment in a friction-induced vibration system is a source of squeal noise.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.7 no.4
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• pp.50-55
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• 1998

Mould level control system for continuous casting process involves stick-slip friction in the sliding gate , time-delay, non-linearity, and certain uncertainties such as friction force variations between molten steel and the inner wall of mould. In this paper, sliding mode control technique was used to solve these complex control problem. The controller is then designed and implemented onto the continuous casting process. Testing result shows that sliding mode controller can decrease the fluctuating magnitude of the mould level and is superior to the existing PID controller.

• Journal of Power System Engineering
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• v.16 no.2
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• pp.5-10
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• 2012

The parking brake is one of the essential units embedded in track driving motor for forward and backward motion of an excavator. It is composed of multi-friction discs. When the hydraulic motor stops, the multi-friction discs closely stick to the facing discs by acting of multi-spring forces. So, the friction forces generate the braking force by compressing the cylinder barrel of hydraulic motor. In this study, we combined the multi-friction discs to two kinds of spring which have different spring force, and the maximum torque measured at the rotational starting point of hydraulic motor through gradually increasing the rotational torque of load side hydraulic motor by use of 1 and 2 sheets of friction plates. And, under this experimental condition, the maximum coefficient of static friction and the characteristics of paper friction sheet were analyzed. The obtained experimental results will be applied to the design of parking brake system for producing large size excavator in the 85-ton weight class.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.5
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• pp.112-118
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• 2003

The friction coefficients of the rubber for clutch master cylinder were experimentally measured in this study. The cylindrical rubber samples for primary cup-seal and secondary cup-seal were tested against the aluminum or the steel plates of master cylinder housing under the various conditions of brake oil temperatures and normal loads. Dry sliding friction coefficients were also measured under various load conditions. The test revealed following results. First, the friction coefficient under fluid lubrication condition in general decreases, as the oil temperature or normal load increases. Second, the steel plate of low surface roughness yielded comparatively low friction coefficient on the range of 0.30∼0.67. On the other hand, the aluminum plate of high surface roughness yielded high friction coefficient on the range of 0.31∼1.15. Third, the friction coefficient of dry surface contact decreases as the normal load increases. This is contrary to the general principle of friction coefficient between metal plates.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.6 s.177
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• pp.1633-1642
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• 2000

Like many other mechanical dynamic systems, flexible manipulator systems experience stiction or sticking friction, which may cause input-dependent instabilities. Manipulator performance can be enha nced by identifying friction but it is hard and expensive to measure friction by direct and precise sensing of contact displacements and forces. This study addresses the problem of identifying flexible manipulator joint friction. A dynamic model of a two-link flexible manipulator based upon finite element and Lagrange's method is constructed. The dynamic model includes the effects of joint compliances and actuator dynamics. Friction is also incorporated in the dynamic model to account for stick-slip at the joints. Next, the friction parameters are to be determined. The identification problem is posed as an optimization problem to be solved using nonlinear programming methods. A genetic algorithm is used to increase the convergence rate and the chances of finding the global optimum. The identified friction parameters are experimentally verified and it is expected that the identification technique is applicable to a system parameter identification problem associated with a wide class of nonlinear systems.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.23 no.2
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• pp.199-208
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• 2010

A friction damper installed at a building shows nonlinear behavior since its stick and slip states are occurred repeatedly depending on the amplitude of external loadings to dissipate input energy. Friction damping is existed for the building with a friction damper. In additionally viscous one is inherently included. Therefore, the building installed in such combined damping is quite involved to find the analytical solution. In this study, first, displacement and acceleration characteristics are identified based on the exact solution for a single-degree-freedom building with a friction damper having both friction and viscous damping. Second, in free vibration, the equivalent viscous damping ratio is obtained by the energy dissipation. Third, numerical analysis is carried out to find response configuration with various friction force ratios. Fourth, corresponding equivalent viscous damping ratio is derived with the finding that the response reaches into steady-state for both friction and viscous damped structure. It is deduced using balance of input external energy and output dissipation energy for steady-state response. Finally, the equivalent viscous damping ratios of free or harmonic vibration are verified through nonlinear analysis.

• Tribology and Lubricants
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• v.34 no.4
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• pp.125-131
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• 2018

A precision tribometer consisting of a cantilever was designed to measure frictional forces in the micro-Newton range. As frictional forces are measured based on the bending of the cantilever, vibration of the cantilever is the most significant factor affecting the quality of the friction measurement. Therefore, improved design of the tribometer with double cantilevers and a connecting plate that united the two cantilevers mechanically was suggested. For the verification of the modified design of the tribometer, numerical analysis and experiments were conducted. Examination using the finite element method revealed that the tribometer with a double cantilever and a connecting plate exhibited faster damping characteristics than the tribometer with a single cantilever. In the experiment, effectiveness of the double cantilever and connecting plate for vibration reduction was also confirmed. Vibration of the tribometer with double cantilever decreased eight times faster than that of the tribometer with a single cantilever. The faster damping of the double cantilever design is attributed to the mechanical interaction at the contacting surfaces between the cantilever and the connecting plate. Tribotesting using the tribometer with a single cantilever resulted in random fluctuation of frictional forces due to the stick-slip behavior. However, using the tribometer with a double cantilever and connecting plate for the tribotest gave relatively uniform and steady measurement of frictional forces. Increased stiffness owing to using a double cantilever and mechanical damping of the connecting plate were responsible for the stable friction signal.

• Earthquakes and Structures
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• v.3 no.2
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• pp.169-180
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• 2012

The performance of pure friction isolation system with respect to the frequency bandwidth of excitation and the predominant frequency is investigated. A set of earthquake ground motions (artificial as well as recorded [with different combinations of magnitude-distance and local site geology]) is considered for investigating effectiveness of pure friction isolators. The results indicate the performance of pure friction base isolated system does not only depend upon coefficient of friction and mass ratio but the stick-slip behaviour depends upon the frequency content of the excitation as well. Slippage prevails if the excitation frequency lies in a suitable frequency range. This range widens with increasing mass ratio. For larger mass ratios, the sliding effect is more pronounced and the maximum acceleration response is further reduced in the neighbourhood of frequency ratio (${\omega}/{\omega}_n$) of unity. The pure friction isolation system is effective in the case of broadband excitations only and that too, in the acceleration sensitive range of periods. The pure friction system is not effective for protection against narrow band motions for which the system response is quasi-periodic.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.5
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• pp.171-179
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• 2003

An Amplitude Proportional Friction Damper (APFD) is considered in order to improve the characteristics of Coulomb friction damper. The frictional force is proportional to the amplitude in APFD system and the system is non-linear as is Coulomb damper system. A free vibration analysis on the 1-DOF system has made to demonstrate the characteristics of the APFD system. The results show that APFD system has similar damping characteristics to the viscous damper. Also, the solution for the response of a base-excited system with APFD is developed through the application of a Fourier series to represent the frictional force of APFD. It is assumed that no stick-slips occur during any portion of the steady-state oscillation.