• Journal of Institute of Control, Robotics and Systems
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• v.11 no.7
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• pp.609-614
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• 2005

Parallel manipulators have been used for a variety of applications, including the motion simulators and mechanism for precise machining. Since the ball screws used for linear motion of legs of the Stewart-Gough type parallel manipulator provide wider contact areas than revolute joints, parallel manipulators are usually more affected by frictional forces than serial manipulators. In this research, the method for detecting the frictional forces arising in the parallel manipulator using the gravitational force is proposed. First, the reference trajectories are computed from the dynamic model of the parallel manipulator assuming that it is subject to only the gravitational force without friction. When the parallel manipulator is controlled so that the platform follows the computed reference trajectory, this control force for each leg is equal to the friction force arising in each leg. It is shown that control performance can be improved when the friction compensation based on this information is added to the controller for position control of the moving plate of a parallel manipulator.

• Tribology and Lubricants
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• v.33 no.6
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• pp.275-281
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• 2017

In this work, we have fabricated anodic aluminum oxide (AAO) with ordered nanoscale porosity through an anodization process. We deposited gold and nano-organic thin films on the porous AAO surface to protect its structure and reduce friction. We investigated the tribological characteristics of the porous AAO with respect to the protective surface coatings using tribometers. While investigating the frictional characteristics of the samples by applying normal forces of the order of micro-Newton, we observed that AAO without a protective coating exhibits the highest friction coefficient. In the presence of protective surface coatings, the friction coefficient decreases significantly. We applied normal forces of the order of milli-Newton during the tribotests to investigate the wear characteristics of AAO, and observed that AAO without protective surface coatings experiences severe damage due to the brittle nature of the oxide layer. We observed the presence of several pieces of fractured particles in the wear track; these fractured particles lead to an increase in the friction. However, by using surface coatings such as gold thin films and nano-organic thin films, we confirmed that the thin films with nanoscale thickness protect the AAO surface without exhibiting significant wear tracks and maintain a stable friction coefficient for the duration of the tribotests.

• Tribology and Lubricants
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• v.30 no.6
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• pp.370-377
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• 2014

The basic elements in a rotary-type scroll compressor are two identical spiral scrolls containing refrigerant gas. The pressure variations in the compression pockets of a scroll compressor change the forces acting on the orbiting scroll, and these forces affect the dynamic behavior of the compression mechanism parts. To achieve high efficiency, using a self-sealing mechanism as a tip seal mechanism is very effective. Tip seals, which are placed on top of the scroll wraps, accomplish thrust sealing. This study calculates the friction force between the tip seal and the side plate of a scroll compressor using the numerical model considered in the Reynolds equation. The calculated friction force is verified by an experiment using a pin-on-disk apparatus. A hydraulic servo valve that controls the pressure of the oil hydraulic cylinder applies the normal load for the test, and a DC servo motor controls the sliding velocity of the disk. The friction force and normal load are measured by the force sensors attached to the supporting parts. The results show that the theoretical and experimental results are similar and that the friction is influenced by the viscosity of the oil and the sliding velocity of the scroll.

• Tribology and Lubricants
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• v.14 no.3
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• pp.65-73
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• 1998

A dynamic analysis and friction loss of non-variable swash plate compressor are studied theoretically. Rotating swash plate and reciprocating pistons are modelled kinematically, and forces and torques acting on rotor-bearing system are analyzed. Then, friction losses on 4 roller bearings, 10 sliding parts between swash plate and shoes, and 10 lubricating surfaces between cylinders and pistons are calculated. On each frictional element of sliding surfaces and roller bearings, the same friction loss is obtained, respectively.

• Fibers and Polymers
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• v.6 no.2
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• pp.146-150
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• 2005

In this paper, friction of air-jet textured yams is investigated. Using a friction measuring apparatus fabricated inhouse, dynamic friction forces of the yams under yarn-to-metal (YM) and yam-to-yam (YY) rubbing modes are measured. The influence of processing variables of air-jet texturing viz., overfeed, air pressure, dry/wet texturing and normal/core-and-effect texturing on dynamic friction is analysed. The results indicate that friction force increases with increasing rubbing speeds and yam input tension. YM dynamic friction decreases initially and then starts to increase at higher overfeeds. YY dynamic friction increases with increasing overfeed. YM dynamic friction decreases with an increase in air pressure while an opposite trend is observed for YY friction. Wet textured yams have higher friction than dry textured yams. Core wetted coreand-effect textured yams have higher friction than normal textured yams.

• Journal of Mechanical Science and Technology
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• v.20 no.9
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• pp.1399-1409
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• 2006

An improved friction model was proposed with consideration of the effect of the sliding speed, the contact pressure and the temperature, and it was implemented into a user subroutine of a commercial FEM code, ABAQUS/Explicit. Then, a smooth tire was simulated for free rolling, driving, braking and cornering situations using the improved friction model and the Coulomb friction model, and the effect of the friction models on the slip, the frictional energy distribution and the cornering force and moment was analyzed. For the free rolling, the driving and the braking situations, the improved friction model and the Coulomb friction model resulted in similar profiles of the slip and the frictional energy distributions although the magnitudes were different. The slips obtained from the simulations were in a good correlation with experimental data. For the cornering situation, the Coulomb friction model with the coefficient of friction of 1 or 2 resulted in lower or higher cornering forces and moments than experimental data. In addition, in contrast to experimental data it did not result in a maximum cornering force and a decrease of the cornering moment for the increase of the speed. However, the improved friction model resulted in similar cornering forces and moments to experimental data, and it resulted in a maximum cornering force and a decrease of the cornering moment for the increase of the speed, showing a good correlation with experimental data.

• Journal of Engineering Education Research
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• v.21 no.3
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• pp.12-19
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• 2018

In this study, a new experimental device was developed for measurement of the coefficient of kinetic friction using a photo gate timer system which have advantages of easy and accurate detection of motion. This device, consisting of a side air-guide track and a side friction-free glider, forces a friction sample to move in a straight line without producing unnecessary friction. The new device is compared to two conventional measuring methods of friction for four different friction samples: one is using a camera system and the other is using a force sensor. It is demonstrated that the developed friction device in this study is easier to operate and produces the most accurate and the least deviating results among them. On the basis of these results, we propose that friction experiment using the new friction device is included in general physics experiment, so that engineering students should have a chance to get correct understanding of classical mechanics including friction phenomenon.

• 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.

• Transactions of Materials Processing
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• v.22 no.4
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• pp.223-228
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• 2013

The friction coefficients of advanced high strength steel sheets were experimentally determined. In the friction test, the pulling and holding forces acting on the sheet for various friction conditions, such as lubricant viscosity, pulling speed, blank holding pressure, sheet surface roughness, and hardness of the sheet were measured and the friction coefficient was calculated based on Coulomb's friction law. While the friction coefficient, generally, decreases as the value of friction factor increases, the factor associated with the sheet surface roughness shows U shape behavior for the friction coefficient. Furthermore, the relationship between friction coefficient and the wear volume, which was computed for the roughness of both sheet surfaces and the friction area, is linearly proportional.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.5
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• pp.517-523
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• 2004

Recently, wheel slip controllers with controlling the wheel slip directly has been studied using the brake-by-wire actuator. The wheel slip controller is able to control the braking force more accurately and can be adapted to various different vehicles more easily than the conventional ABS systems. The wheel slip controller requires the information about the tire braking force and road condition in order to achieve the control performance. In this paper, the tire braking forces are estimated considering the variation of the friction between brake pad and disk due to aging of the brake, moisture on the contact area or heating. In addition, the road friction coefficient is estimated without using tire models. The estimated performance of tire braking forces and the road friction coefficient is evaluated in simulations.