Abstract
This paper presents a comprehensive review of friction modelling to provide an understanding of design for durability within interacting systems. Friction is a complex phenomenon and occurs at the interface of two components in relative motion. Over the last several decades, the effects of friction and its modelling techniques have been of significant interests in terms of industrial applications. There is however a need to develop a unified mathematical model for friction to inform design for durability within the context of varying operational conditions. Classical dynamic mechanisms model for the design of control systems has not incorporated friction phenomena due to non-linearity behaviour. Therefore, the tribological performance concurrently with the joint dynamics of a manipulator joint applied in hazardous environments needs to be fully analysed. Previously the dynamics and impact models used in mechanical joints with clearance have also been examined. The inclusion of reliability and durability during the design phase is very important for manipulators which are deployed in harsh environmental and operational conditions. The revolute joint is susceptible to failures such as in heavy manipulators these revolute joints can be represented by lubricated conformal sliding surfaces. The presence of pollutants such as debris and corrosive constituents has the potential to alter the contacting surfaces, would in turn affect the performance of revolute joints, and puts both reliability and durability of the systems at greater risks of failure. Key literature is identified and a review on the latest developments of the science of friction modelling is presented here. This review is based on a large volume of knowledge. Gaps in the relevant field have been identified to capitalise on for future developments. Therefore, this review will bring significant benefits to researchers, academics and industry professionals.
Highlights
Friction is a ubiquitous phenomenon which occurs at the interface of two surfaces in physical contact and in relative motion
Friction is directly linked to the durability and reliability of interacting systems and if it is not fully optimised it leads to significant efficiency losses
This review focuses on dynamics and friction modelling which applies to the specific case of the manipulator arm deployed in harsh environments
Summary
Friction is a ubiquitous phenomenon which occurs at the interface of two surfaces in physical contact and in relative motion. Marques et al [26] have recently surveyed friction models in single degree of freedom in planar systems Researches such as Mukras et al [27, 28] have analysed the computation of joint wear calculation along with dynamics. When large quantities of chemicals were found in large radius after the WTC incident [38], the effect of corrosion inducing species on the operating equipment needs to be examined too Stalwart researchers such as Blau [39] recognise that most appropriate method for determining the effect of friction and its effects and quantifying it, is still in experimentation and analysis elucidates that the effects of environment on such mechanical joints need attention. The outline of the survey methodology has been given
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