An Effective Method for Modeling Stiction in Multibody Dynamic Systems

Abstract

This paper presents an effective method for developing dynamic equations which realistically model dynamics of multibody mechanical systems with stiction, or stick-slip friction. This method is used in three examples—a mass-spring system, a top, and a robot linkage—to illustrate the facility with which the method is implemented. The method dynamically partitions sets of dynamic equations to model a system through discontinuities, changes in degrees of freedom and changes in states. Comparisons of this method with others is presented for simple and complex systems.