Abstract
This paper focuses on investigating friction behavior in pre-sliding regime and developing a new mathematical model of friction for fluid power actuators. Using pneumatic cylinders with different sizes, an experimental setup is built to measure friction force-displacement characteristics in presliding regime under various conditions of pressures in the cylinder chambers. A new mathematical model of friction for the pneumatic cylinders is proposed by incorporating a hysteresis function into the new modified LuGre model. The experimental results show that when the pressures are varied, friction of the pneumatic cylinders in pre-sliding regime is represented by behavior of a nonlinear spring. In addition, hysteresis behavior with nonlocal memory is obtained in the friction forcedisplacement characteristics and that the size of the hysteresis loop is increased with increasing pressures in the cylinder chambers. The simulation results show that the new friction model can accurately simulate the friction behavior of the pneumatic cylinders in pre-sliding regime as well as sliding regime.
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