Modelling of joint friction in robotic manipulators with gear transmissions

    Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

    5 Citations (Scopus)

    Abstract

    This paper analyses the problem of modelling joint friction in robotic manipulators with gear transmissions in the sliding regime, i.e. at joint velocities varying from close to zero until their maximum appearing values. It is shown that commonly used friction models that incorporate Coulomb, (linear) viscous and Stribeck components are inadequate to describe the friction behaviour for the full velocity range. A new friction model is proposed that relies on insights from tribological models. The basic friction model of two lubricated discs in rolling-sliding contact is used to analyse viscous friction and friction caused by asperity contacts inside gears and roller bearings of robot joint transmissions. The analysis shows different viscous friction behaviour for gears and pre-stressed bearings. The sub-models describing the viscous friction and the friction due to the asperity contacts are combined into two friction models; one for gears and one for the pre-stressed roller bearings. In this way, a new friction model is developed that accurately describes the friction behaviour in the sliding regime with a minimal and physically sound parametrisation. The model is linear in the parameters that are temperature dependent, which allows to estimate these parameters during the inertia parameter identification experiments. The model, in which the Coulomb friction effect has disappeared, has the same number of parameters as the commonly used Stribeck model. The model parameters are identified experimentally on a Staubli Rx90 industrial robot.
    Original languageEnglish
    Title of host publicationMultibody Dynamics-Computational Methods and Applications
    EditorsJ.C. Garcia Orden, J. M. Goicolea, J. Cuadrade
    Place of PublicationGermany
    PublisherSpringer
    Pages221-243
    ISBN (Electronic)978-1-4020-5684-0
    ISBN (Print)978-1-4020-5683-3
    DOIs
    Publication statusPublished - 2007
    EventII International Conference on Advances in Computational Multibody Dynamics 2005: ECCOMAS Thematic Conference - Madrid, Spain
    Duration: 21 Jun 200524 Jun 2005
    Conference number: 2

    Publication series

    NameComputational Methods in Applied Sciences
    Volume4

    Conference

    ConferenceII International Conference on Advances in Computational Multibody Dynamics 2005
    CountrySpain
    CityMadrid
    Period21/06/0524/06/05

    Fingerprint

    Manipulators
    Gears
    Robotics
    Friction
    Roller bearings
    Bearings (structural)
    Industrial robots
    Identification (control systems)
    Acoustic waves
    Robots

    Cite this

    Jonker, J. B., Aarts, R. G. K. M., & Waiboer, R. R. (2007). Modelling of joint friction in robotic manipulators with gear transmissions. In J. C. Garcia Orden, J. M. Goicolea, & J. Cuadrade (Eds.), Multibody Dynamics-Computational Methods and Applications (pp. 221-243). (Computational Methods in Applied Sciences; Vol. 4). Germany: Springer. https://doi.org/10.1007/978-1-4020-5684-0_11
    Jonker, Jan B. ; Aarts, Ronald G.K.M. ; Waiboer, R.R. / Modelling of joint friction in robotic manipulators with gear transmissions. Multibody Dynamics-Computational Methods and Applications. editor / J.C. Garcia Orden ; J. M. Goicolea ; J. Cuadrade. Germany : Springer, 2007. pp. 221-243 (Computational Methods in Applied Sciences).
    @inbook{2b26b00f2bca4991a04e00630bf0d347,
    title = "Modelling of joint friction in robotic manipulators with gear transmissions",
    abstract = "This paper analyses the problem of modelling joint friction in robotic manipulators with gear transmissions in the sliding regime, i.e. at joint velocities varying from close to zero until their maximum appearing values. It is shown that commonly used friction models that incorporate Coulomb, (linear) viscous and Stribeck components are inadequate to describe the friction behaviour for the full velocity range. A new friction model is proposed that relies on insights from tribological models. The basic friction model of two lubricated discs in rolling-sliding contact is used to analyse viscous friction and friction caused by asperity contacts inside gears and roller bearings of robot joint transmissions. The analysis shows different viscous friction behaviour for gears and pre-stressed bearings. The sub-models describing the viscous friction and the friction due to the asperity contacts are combined into two friction models; one for gears and one for the pre-stressed roller bearings. In this way, a new friction model is developed that accurately describes the friction behaviour in the sliding regime with a minimal and physically sound parametrisation. The model is linear in the parameters that are temperature dependent, which allows to estimate these parameters during the inertia parameter identification experiments. The model, in which the Coulomb friction effect has disappeared, has the same number of parameters as the commonly used Stribeck model. The model parameters are identified experimentally on a Staubli Rx90 industrial robot.",
    author = "Jonker, {Jan B.} and Aarts, {Ronald G.K.M.} and R.R. Waiboer",
    note = "Revised and extended versions of selected conference communications",
    year = "2007",
    doi = "10.1007/978-1-4020-5684-0_11",
    language = "English",
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    series = "Computational Methods in Applied Sciences",
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    Jonker, JB, Aarts, RGKM & Waiboer, RR 2007, Modelling of joint friction in robotic manipulators with gear transmissions. in JC Garcia Orden, JM Goicolea & J Cuadrade (eds), Multibody Dynamics-Computational Methods and Applications. Computational Methods in Applied Sciences, vol. 4, Springer, Germany, pp. 221-243, II International Conference on Advances in Computational Multibody Dynamics 2005, Madrid, Spain, 21/06/05. https://doi.org/10.1007/978-1-4020-5684-0_11

    Modelling of joint friction in robotic manipulators with gear transmissions. / Jonker, Jan B.; Aarts, Ronald G.K.M.; Waiboer, R.R.

    Multibody Dynamics-Computational Methods and Applications. ed. / J.C. Garcia Orden; J. M. Goicolea; J. Cuadrade. Germany : Springer, 2007. p. 221-243 (Computational Methods in Applied Sciences; Vol. 4).

    Research output: Chapter in Book/Report/Conference proceedingChapterAcademicpeer-review

    TY - CHAP

    T1 - Modelling of joint friction in robotic manipulators with gear transmissions

    AU - Jonker, Jan B.

    AU - Aarts, Ronald G.K.M.

    AU - Waiboer, R.R.

    N1 - Revised and extended versions of selected conference communications

    PY - 2007

    Y1 - 2007

    N2 - This paper analyses the problem of modelling joint friction in robotic manipulators with gear transmissions in the sliding regime, i.e. at joint velocities varying from close to zero until their maximum appearing values. It is shown that commonly used friction models that incorporate Coulomb, (linear) viscous and Stribeck components are inadequate to describe the friction behaviour for the full velocity range. A new friction model is proposed that relies on insights from tribological models. The basic friction model of two lubricated discs in rolling-sliding contact is used to analyse viscous friction and friction caused by asperity contacts inside gears and roller bearings of robot joint transmissions. The analysis shows different viscous friction behaviour for gears and pre-stressed bearings. The sub-models describing the viscous friction and the friction due to the asperity contacts are combined into two friction models; one for gears and one for the pre-stressed roller bearings. In this way, a new friction model is developed that accurately describes the friction behaviour in the sliding regime with a minimal and physically sound parametrisation. The model is linear in the parameters that are temperature dependent, which allows to estimate these parameters during the inertia parameter identification experiments. The model, in which the Coulomb friction effect has disappeared, has the same number of parameters as the commonly used Stribeck model. The model parameters are identified experimentally on a Staubli Rx90 industrial robot.

    AB - This paper analyses the problem of modelling joint friction in robotic manipulators with gear transmissions in the sliding regime, i.e. at joint velocities varying from close to zero until their maximum appearing values. It is shown that commonly used friction models that incorporate Coulomb, (linear) viscous and Stribeck components are inadequate to describe the friction behaviour for the full velocity range. A new friction model is proposed that relies on insights from tribological models. The basic friction model of two lubricated discs in rolling-sliding contact is used to analyse viscous friction and friction caused by asperity contacts inside gears and roller bearings of robot joint transmissions. The analysis shows different viscous friction behaviour for gears and pre-stressed bearings. The sub-models describing the viscous friction and the friction due to the asperity contacts are combined into two friction models; one for gears and one for the pre-stressed roller bearings. In this way, a new friction model is developed that accurately describes the friction behaviour in the sliding regime with a minimal and physically sound parametrisation. The model is linear in the parameters that are temperature dependent, which allows to estimate these parameters during the inertia parameter identification experiments. The model, in which the Coulomb friction effect has disappeared, has the same number of parameters as the commonly used Stribeck model. The model parameters are identified experimentally on a Staubli Rx90 industrial robot.

    U2 - 10.1007/978-1-4020-5684-0_11

    DO - 10.1007/978-1-4020-5684-0_11

    M3 - Chapter

    SN - 978-1-4020-5683-3

    T3 - Computational Methods in Applied Sciences

    SP - 221

    EP - 243

    BT - Multibody Dynamics-Computational Methods and Applications

    A2 - Garcia Orden, J.C.

    A2 - Goicolea, J. M.

    A2 - Cuadrade, J.

    PB - Springer

    CY - Germany

    ER -

    Jonker JB, Aarts RGKM, Waiboer RR. Modelling of joint friction in robotic manipulators with gear transmissions. In Garcia Orden JC, Goicolea JM, Cuadrade J, editors, Multibody Dynamics-Computational Methods and Applications. Germany: Springer. 2007. p. 221-243. (Computational Methods in Applied Sciences). https://doi.org/10.1007/978-1-4020-5684-0_11