Sharif Digital Repository

Contact modeling plays a central role in motion planning, simulation and control of legged robots, as legged locomotion is realized through contact. The two prevailing approaches to model the contact consider rigid and compliant premise at interaction ports. Contrary to the dynamics model of legged systems with rigid contact (without impact) which is straightforward to develop, there is no consensus among researchers to employ a standard compliant contact model. Our main goal in this paper is to study the dynamics model structure of bipedal walking systems with rigid contact and a novel compliant contact model, and to present experimental validation of both models. For the model with rigid... 

An advanced method using progressive concept of geometrical correspondence is applied to create a new wheel/rail contact model based on virtual penetration theory. The geometry and contact mechanism are solved simultaneously because of the independency in a defined correspondence. The model takes the penetrated profiles of wheel and rail and also associated creeps as inputs, and produces driving contact forces as output. The advantage of this model is that it doesn't require pretabulation of rigid contact situation. The method allows calculating flexible, non-elliptical, multiple contact patches during integration of the model. Consequently the rails with substructures can vibrate separately... 

In this paper, a Lagrangian-extended finite-element (FE) method is presented in modeling large-plasticity deformations and contact problems. The technique is used to model arbitrary interfaces in two-dimensional (2D)/three-dimensional (3D) large deformations. The material interfaces are represented independent of the FE mesh and the process is accomplished by integrating enriched elements with a larger number of Gauss points, whose positions are fixed in the element. The large elasto-plastic deformation formulation is employed within the eXtended Finite-Element Method (X-FEM) framework to simulate the nonlinear behavior of materials. The interface between two bodies is modeled by using the... 

A two-dimensional seven link biped dynamic model was developed to investigate the mechanical characteristics of the normal and amputee locomotion during the complete gait cycle. The foot-ground contact was simulated using a five-point penetration contact model. The equations of motion were derived using Lagrange method. Optimization of the normal human walking model provided constant coefficients for the driving torque equations that could reasonably reproduce the normal kinematical pattern. The resulting torques were then applied to the intact joints of the amputee model with a prosthetic leg equipped with a kinematical driver controller for the ankle and either a hydraulic, elastic or... 

This article presents a method for determination of meshing force distribution on contact region of spur gear teeth. In this method it is assumed that there are inter-connected springs on the teeth profile. These springs treat as capacitive fields. The compliance matrices of these fields are determined from the results of finite element analysis done on 3-D model of a gear. The tooth compliance matrix is used as a reference data to determine the tooth deformations for any meshing situation. The meshing force distribution is calculated using this reference data and Hertz theory for contacting bodies. The results of this analysis help in stress analysis under real operation conditions and more... 

We propose a model based on extreme value statistics (EVS) and combine it with different models for single-asperity contact, including adhesive and elasto-plastic contacts, to derive a relation between the applied load and the friction force on a rough interface. We determine that, when the summit distribution is Gumbel and the contact model is Hertzian, we obtain the closest conformity with Amonton’s law. The range over which Gumbel distribution mimics Amonton’s law is wider than that of the Greenwood–Williamson (GW) model. However, exact conformity with Amonton’s law is not observed for any of the well-known EVS distributions. Plastic deformations in the contact area reduce the relative... 

In this paper, the three-dimensional large frictional contact deformation of powder forming process is modeled using a node-to-surface contact algorithm based on the penalty and augmented-Lagrange approaches. The technique is applied by imposing the normal and tangential contact constraints and modifying the contact properties of frictional slip. The Coulomb friction law is employed to simulate the friction between the rigid punch and the work piece. It is shown that the augmented-Lagrange technique significantly improves imposing of the constraints on contact surfaces. In order to predict the non-uniform relative density and stress distributions during the large deformation of powder... 

In this paper, an extended finite element method is employed to simulate the presence of discontinuities caused by the contact surface. In X-FEM, the need for mesh adaption to interface is neglected and the process is accomplished by partitioning the domain with some triangular sub-elements whose Gauss points are used for integration of the elements. The modified level set technique and the Heaviside enrichment function are employed to approximate the discontinuous displacement field of elements located on the contact surface. The penalty method is used to impose the contact constraints and establish the non-penetration condition. An efficient numerical algorithm is employed to model the... 

The nonlinear flexural vibration for a rectangular atomic force microscope cantilever is investigated by using Timoshenko beam theory. In this paper, the normal and tangential tip-sample interaction forces are found from a Hertzian contact model and the effects of the contact position, normal and lateral contact stiffness, tip height, thickness of the beam, and the angle between the cantilever and the sample surface on the nonlinear frequency to linear frequency ratio are studied. The differential quadrature method is employed to solve the nonlinear differential equations of motion. The results show that softening behavior is seen for most cases and by increasing the normal contact... 

In this paper, a novel control approach for onedimensional bilateral teleoperated nanomanipulation system is proposed. While manipulating objects with a nanomanipulator, real time visual feedback is not available. So, force feedback is used to compensate for the lack of visual information. Since nanometer scale forces are dominated by surface forces instead of inertial forces as in macro world, scaling of nanoforces is one of the major issues of teleoperation system. The Hertz elastic contact model is used to model the interactions between the slave robot and the environment. The proposed approach uses the simple proportional derivative control, i.e., the master and slave robots are... 

Simulation of brittle regime machining of materials (such as ceramics) is often difficult because of the complex material removal mechanisms involved. In this study, the discrete element method is used to simulate the dynamic process for machining of slip-cast fused silica ceramics. Flat-joint contact model is exploited to model contacts between particles in synthetic discrete element method models. This contact model is suitable for modeling of brittle materials with high ratios (higher than 10) of unconfined compressive strength to tensile strength. The discrete element method has the ability to simulate initiation, propagation, and coalescence of cracks leading to chip formation in the... 

The effect of contact geometry on fretting fatigue life was investigated by experiments and numerical simulation. The experiments were conducted for flat and cylindrical pads under the same contact normal force. The post-test examinations including crack growth measurements and fractography were carried out using optical and scanning electron microscopy (SEM). Numerical simulations of pad-specimen assembly with and without crack were performed using a finite element (FE) analysis. The experimental study revealed that the rate of crack growth was higher at the early stages of fretting fatigue for cylindrical pads. This stage corresponds to a higher KII for cylindrical contact model. After... 

A dynamic model of an above-knee prosthesis during the complete gait cycle was developed. The model was based on a two-dimensional multi-body mechanical system and included a hydraulic and an elastic controller for the knee and a kinematical driver controller for the prosthetic ankle. The equations of motion were driven using Lagrange method. Simulation of the foot contact was conducted using a two-point penetration contact model. The knee elastic and hydraulic controller units, the knee extension stop, and the kinematical driver controller of the ankle were represented by a spring and a dashpot, a nonlinear spring, and a torsional spring-damper within a standard prosthetic configuration....