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A numerical dynamic behaviour model for 3D contact problems with friction

Pop, Nicolae; Vladareanu, Luige; Popescu, Ileana Nicoleta; Ghi??, Constantin; Gal, Alexandru; Cang, Shuang; Yu, Hongnian; Bratu, Vasile; Deng, Mingcong


Nicolae Pop

Luige Vladareanu

Ileana Nicoleta Popescu

Constantin Ghi??

Alexandru Gal

Shuang Cang

Vasile Bratu

Mingcong Deng


This paper proposes a novel algorithm for the condition detection in which the slip state transitions in a stick–slip motion, or the solution breaks down and also to study the state transition of nodes belonging to the contact area: stick, slip or open contact state. We designed a Matlab Simulink program to simulate the occurrence conditions for the slip–stick transition analysing three types of contact surface materials, with respectively 0.5, 0.75 and 0.9 friction coefficients, using finite element contact. The proposed method is able to detect the stick–slip motion and implicit the numerical instability of the model. By applying this method to control walking robots on uncertain, unknown and unstructured surfaces, the occurrence conditions for the slip–stick transition depending on the friction coefficient of contact material were determined. The presented simulations demonstrates through a numeric modelling of the dynamic behaviour of 3D contact problems with friction we can detect the slip/stick phenomenon for a walking robot motion on a uneven terrain, so it can improve the real time control in order to predict and avoid robot overthrow.

Journal Article Type Article
Acceptance Date May 26, 2014
Online Publication Date Jul 9, 2014
Publication Date 2014-11
Deposit Date Jun 18, 2022
Journal Computational Materials Science
Print ISSN 0927-0256
Publisher Elsevier
Peer Reviewed Peer Reviewed
Volume 94
Pages 285-291
Keywords Contact problem with friction, Friction Coulomb law, Stick–slip motion, Contact surface materials
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