• Journal of the Korean Society of Safety
• /
• v.27 no.5
• /
• pp.185-189
• /
• 2012

While there is no standards on slip risk for contaminants on surface, glycerol is described in standard contaminant for measuring coefficient of friction(COF) and slip resistance such as ISO 13287. But that is just used to measure the slip resistance of surface materials and shoes not to evaluate the contaminant materials. Therefore the objective of this study was to find out the relationship between standard contaminant and the contaminants used usually at the workplaces. For this, some measurement criteria were acquired from the analysis based on biomechanics and kinetics of human gait during slips. The slip resistance according to viscosity of the contaminants was measured applying the criteria and slip probability was determined by the gait analysis. Some factors which should be considered when measuring the slip resistance were identified. The velocity, acceleration, contact time and contact pressure should be 1 m/sec, 10 $m/sec^2$, 350 kPa and less than 0.5sec respectively. The variation of viscosity according to temperature for working oils was different from that of standard contaminant. The static coefficient of friction (SCOF) of working oils was almost 0.5 times as large as the SCOF of standard contaminant. So it was assumed to be difficult to compare the contaminants at the workplaces with the glycerol as a standard contaminant for estimating the slip risk.

• 한국기계연구소 소보
• /
• s.18
• /
• pp.29-35
• /
• 1988

When low sliding velocities in the boundary lubrication range are operating, irregular movements frequently occur which are a result of the stick-slip phenomenon. Such slide motions are undesirable in precision machine tools, particularly with feed back systems used in numerical and adaptive control machine tools. Accordingly, this paper reports analytical and experimental studies in the stick-slip characteristic of machine tool feeding system. The main conclusions of this study are as follows; The tendency towards stick-slip effects may be reduced by; 1). Reducing the drop in friction coefficient in the Stribeck curve(on the rising part of the friction characteristic at higher sliding speeds, the system is stable all the time) 2). Reducing the transition velocity by the use of a higher viscosity lubricating oil. 3). Increasing the stiffness(Damping)and reducing normal load(Sliding mass) Therefore, the Critical velocity is decided from the above conclusions and in designing of machine tool, feed rates(sliding velocity)must be design the more than critical velocity.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2009.06a
• /
• pp.279-280
• /
• 2009

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2008.11a
• /
• pp.230-236
• /
• 2008

In this paper, a model-based stick-slip compensation for the micro-positioning is proposed using an enhanced stick-slip model based on statistical rough surface contact model. The smart structure is comprised with PZT (lead (Pb) zirconia (Zr) Titanate (Ti)) based stack actuator incorporating with the PID (Proportional-Integral-Derivative) control algorithm, mechanical displacement amplifier and positioning devices. For the stick-slip compensation, the elastic-plastic static friction model is used considering the elastic-plastic asperity contact in the rough surfaces statistically. Mathematical model of system for the positioning apparatus was derived from the dynamic behaviors of structural parts. PID feedback control algorithms with the developed stick-slip model as well as feedforward friction compensator are formulated for achieving the accurate positioning performance. Experimental results are provided to show the performances of friction control using the developed positioning apparatus.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.5
• /
• pp.517-523
• /
• 2004

Recently, wheel slip controllers with controlling the wheel slip directly has been studied using the brake-by-wire actuator. The wheel slip controller is able to control the braking force more accurately and can be adapted to various different vehicles more easily than the conventional ABS systems. The wheel slip controller requires the information about the tire braking force and road condition in order to achieve the control performance. In this paper, the tire braking forces are estimated considering the variation of the friction between brake pad and disk due to aging of the brake, moisture on the contact area or heating. In addition, the road friction coefficient is estimated without using tire models. The estimated performance of tire braking forces and the road friction coefficient is evaluated in simulations.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.18 no.11
• /
• pp.1134-1142
• /
• 2008

In this paper, a model-based stick-slip compensation for the micro-positioning is proposed using an enhanced stick-slip model based on statistical rough surface contact model. The smart structure is comprised with PZT(lead (Pb) zirconia(Zr) Titanate(Ti)) based stack actuator incorporating with the PID(proportional-integral-derivative) control algorithm, mechanical displacement amplifier and positioning devices. For the stick-slip compensation, the elastic-plastic static friction model is used considering the elastic-plastic asperity contact in the rough surfaces statistically. Mathematical model of system for the positioning apparatus was derived from the dynamic behaviors of structural parts. PID feedback control algorithms with the developed stick-slip model as well as feedforward friction compensator are formulated for achieving the accurate positioning performance. Experimental results are provided to show the performances of friction control using the developed positioning apparatus.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.1
• /
• pp.58-69
• /
• 2014

This paper proposes a method for predicting maximum friction coefficients and optimal slip ratios as optimal control parameters for traction control or slip control of autonomous mobile robots on rough terrain. This paper focuses on strength of ground surface which indicates different characteristics depending on material types on surface. Strength of various material types can be estimated by Willoughby sinkage model and by a developed testbed which can measure forces, velocities, and displacements generated by wheel-terrain interaction. Estimated strength is collaborated on building improved Brixius model with friction-slip data from experiments with the testbed over sand and grass material. Improved Brixius model covers widespread material types in outdoor environments on predicting friction-slip characteristics depending on strength of ground surface. Thus, a prediction model for obtaining optimal control parameters is derived by partial differentiation of the improved Brixius model with respect to slip. This prediction model can be applied to autonomous mobile robots and finally gives secure maneuverability on rough terrain. Proposed method is verified by various experiments under similar conditions with the ones for real outdoor robots.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.05a
• /
• pp.561-567
• /
• 2007

This paper deals with the numerical model of a bracing-friction damper system and its deployment using the optimal slip load distribution for the seismic retrofitting of a damaged building. The Slotted Bolted Connection (SBC) type friction damper system was tested to investigate its energy dissipation characteristic. Test results coincided with the numerical ones using the conventional model of a bracing-friction damper system. The placement of this device was numerically explored to apply it to the assumed damaged-building and to evaluate its efficiency. It was found by distributing the slip load that minimizes the given performance indicies based on structural response. Numerical results for the damaged building retrofitted with this slip load distribution showed that the seismic design of the bracing-friction damper system under consideration is effective for the structural response reduction.

• Journal of the Korean Society of Safety
• /
• v.27 no.5
• /
• pp.179-184
• /
• 2012

This study was performed to find out the measurement criteria of slip resistance from analysis of human gait and slips. Many kinds of slip resistance testers were developed based on mechanical friction testers. But, there are, as yet, no unambiguous slip resistance measurement methodologies and generally accepted safety criteria or safety thresholds for estimating slipping hazard exposures. Also, there are variety of measuring conditions between those testers. The measurement criteria should be tested within the range of human slipping conditions observed in biomechanical studies. It's results should clearly consider whether the devices reflect the human slipping conditions. In this study a dragsled type friction tester, which was constructed in accordance with ISO 15133 basically, was used. Test conditions were set in order to determine the range of measurement criteria. It is shown that drag velocity should be more than 1 m/s, acceleration be more than 10 $m/s^2$, contact time be less than 0.1sec, and contact pressure be within 350~400 kPa.

• Smart Structures and Systems
• /
• v.4 no.5
• /
• pp.685-696
• /
• 2008

This paper deals with the numerical model of a bracing-friction damper system and its deployment using the optimal slip load distribution for the seismic retrofitting of a damaged building. The Slotted Bolted Connection (SBC) type friction damper system was tested to investigate its energy dissipation characteristic. Test results coincided with the numerical ones using the conventional model of a bracing-friction damper system. The placement of this device was numerically explored to apply it to the assumed damaged-building and to evaluate its efficiency. It was found by distributing the slip load that minimizes the given performance indicies based on structural response. Numerical results for the damaged building retrofitted with this slip load distribution showed that the seismic design of the bracing-friction damper system under consideration is effective for the structural response reduction.