Friction Block
Friction parameters for the LuGre model are defined in the Friction block as shown in the following table:
Parameter Name | Dimension |
---|---|
Mu_Static | Specifies the static friction coefficient
in the
connector.
This is a mandatory parameter and it must be specified. Recommended Value: 0.5 |
Mu_Dynamic | Specifies the dynamic friction coefficient
in the connector.
This is a mandatory parameter and it must be specified. Recommended Value: 0.3 |
Analysis_Modes | Specifies the analysis modes for which the frictional effect is
on. The choices are the strings:
This is an optional parameter that defaults to
Recommended Value:
|
Effect | Specifies the types of friction models to support. Available
options are:
This is a mandatory parameter and it must be specified. Recommended Value:
|
Transition_Velocity | The absolute velocity at which the friction transitions from
dynamic friction to static friction. TRANSITION_VELOCITY >
0 .This is a mandatory parameter and it must be specified. Recommended Value: 0.1 mm/second. |
Bristle_Stiffness |
Specifies the bristle stiffness in the LuGre model. Usually represented as .
This is a mandatory parameter and it must be specified. Recommended Value: 100.0/mm. |
Bristle_Damping | Defines the damping coefficient for the pre-displacement (or
stiction) regime. Its main role is to damp out bristle vibrations in
the pre-displacement regime. Usually represented as
.
This is a mandatory parameter and it must be specified. Recommended Value: 0.316 second/mm. |
Slip_Damping |
Specifies the coefficient for the viscous damping force that occurs when relative sliding actually begins. Usually represented as .
This is a mandatory parameter and it must be specified. Recommended Value: 0.0004 second/mm. |
Torque_From_Preload | Specifies the preload friction torque in the Spherical
Connectors.
This is a mandatory parameter and it must be specified. Recommended Value: Not available. |
Ball_Radius | Specifies the radius of the spherical
connector.
This is a mandatory parameter and it must be specified. Recommended Value: Not available. |
The following table describes the type and dimension for the various input parameters. Abbreviations are: [F] = force, [L] = length, [T] = time.
Parameter Name | Type | Dimension |
---|---|---|
Mu_Static | real | No-Units |
Mu_Dynamic | real | No-Units |
Analysis_Modes | real | - |
Effect | real | - |
Transition_Velocity | real | [L][T-1] |
Bristle_Stiffness | real | [L-1] |
Bristle_Damping | real | [T][L-1] |
Slip_Damping | real | [T][L-1] |
Torque_From_Preload | real | [F][L] |
Ball_Radius | real | [L] |
The example below shows the specification of a LuGre Friction block in the .gbs file:
$---------------------------------------------------------------
[LUGRE_FRICTION]
MU_STATIC = 0.0
MU_DYNAMIC = 0.0
ANALYSIS_MODES = 'STATICS_AND_DYNAMICS'
EFFECT = 'SLIDING'
USE_FORCE = 'YES'
TRANSITION_VELOCITY = 0.1000
BRISTLE_STIFFNESS = 0.0100
BRISTLE_DAMPING = 0.31625
SLIP_DAMPING = 0.0008
TORQUE_FROM_PRELOAD = 526.882
BALL_RADIUS = 10.0