A numerical dynamic behaviour model for 3D contact problems with friction

作者：Pop Nicolae; Vladareanu Luige^*; Popescu Ileana Nicoleta; Ghita Constantin; Gal Alexandru; Cang Shuang; Yu Hongnian; Bratu Vasile; Deng Mingcong

来源：Computational Materials Science, 2014, 94: 285-291.

DOI：10.1016/j.commatsci.2014.05.072

• Contact problem with friction
• Friction Coulomb law
• Stick-slip motion
• Contact surface materials

This paper proposes a novel algorithm for the condition detection in which the slip state transitions in a stick-slip motion, or the solution breaks down and also to study the state transition of nodes belonging to the contact area: stick, slip or open contact state. We designed a Matlab Simulink program to simulate the occurrence conditions for the slip-stick transition analysing three types of contact surface materials, with respectively 0.5, 0.75 and 0.9 friction coefficients, using finite element contact. The proposed method is able to detect the stick-slip motion and implicit the numerical instability of the model. By applying this method to control walking robots on uncertain, unknown and unstructured surfaces, the occurrence conditions for the slip-stick transition depending on the friction coefficient of contact material were determined. The presented simulations demonstrates through a numeric modelling of the dynamic behaviour of 3D contact problems with friction we can detect the slip/stick phenomenon for a walking robot motion on a uneven terrain, so it can improve the real time control in order to predict and avoid robot overthrow.

• 出版日期2014-11