A procedure for evaluating the positioning accuracy of reciprocating friction drive systems

The dynamic characteristics of stick-slip motion in reciprocating friction drive systems are investigated under dry contact using a 0.45% carbon steel pair. Based on this dynamic analysis, the stick-slip motion can be eliminated under certain experimental conditions depending upon driver speed, normal load and spring constant. The effects of normal load, driver speed, and spring constant on the positioning accuracy of the reciprocating friction drive system are examined under harmonic oscillation without stick-slip motion. Results show that at very low spring constants, the slip increases with increasing driver speed such that higher normal load has better positioning accuracy or smaller slip than does lower normal load. However, at high spring constants and high normal loads, there exhibits severe wear or peak at two limit positions on the sliding region. As a result, smaller normal loads have a better positioning accuracy than larger normal loads due to severe wear at high normal loads.     

Study on slip displacement and stick-slip characteristics in reciprocating friction drive system

The effects of follower mass, time ratio, driver speed, and normal load on the slip displacement and stick-slip characteristics are experimentally and theoretically investigated in the reciprocating friction drive system under dry contact using a 0.45% carbon steel pair. Results show that the accumulative slip displacement is linearly proportional to the rotating cycle under various operating conditions. The slope for this linear relationship is defined as the slip rate. The slip rate increases with increasing driver speed, the mass of the follower, and |δ−1|, but decreasing normal load. There are three modes of relative motion between the driver ring and the follower in the present study, namely, unstable stick-slip (USS), stable stick-slip (SSS), and sticking (ST) regimes. They are significantly influenced by the driver speed, normal load, time ratio and mass of the follower. The critical operating conditions among unstable stick-slip, stable stick-slip, and sticking regimes were also established. The critical frequency can be theoretically calculated and agrees well with experimental results.     

Tribological behavior of reciprocating friction drive system under lubricated contact

The dynamic friction and wear behaviors are investigated in reciprocating friction drive system using a 0.45% carbon steel pair. The effects of various operating parameters on the traction force, stick and slip time, and friction modes are examined under the lubricated contacts. Moreover, the critical operating conditions in classifying three friction modes are also established. Results show that the fluid friction induced by the shearing of lubricant dominates the variation of traction force and produces the positive slope γ at the first period of slip in the traction force–relative sliding velocity curve. The γ value decreases at higher driver speed during stick-slip motion due to the thicker fluid film and shear thinning effect. The γ value increases due to the asperity interactions as the friction region is transferred from stick-slip to sticking with normal load from 196 to 980 N. Furthermore, it is also found that the static friction force is independent of stick time for the tangential loading rate ranged from 1.12 to 16.8 s⁻¹. The transition region produces the severest wear under the different driver speeds, but the wear is insensitive to the friction regions and the severe wear only occurs at higher normal load due to the action of Hertzian contact.     

An ultraprecision positioning system using a twist-roller friction drive

For ultraprecision positioning, the use of the twist-roller friction drive is proposed. To improve the positioning accuracy of conventional twist-roller friction drives, the proposed design has two features: (1) the twist angle between the driving shaft and the driven rollers is very small, and (2) the driven rollers are supported by hydrostatic bearings. The twist-roller friction drive is mechanically a kind of lead screw, and the small twist angle makes the lead of the friction drive less than 0.1 mm. The use of hydrostatic bearing is effective for improving the rotational accuracy of the driven rollers and for eliminating the influence of the fluctuation in roller rotation on positioning accuracy. It has been shown by experiments that the resolution of positioning can be less than 10 nm, and the twist-roller friction drive is suitable for an ultraprecision positioning system.     

Normal displacement and dynamic friction characteristics in a stick-slip process

The dynamic friction-velocity relationship in the slip stage of stick-slip vibration was investigated with a pin-on-flat apparatus. A reasonable relationship was derived from the measured displacement and acceleration of the sliding element, using a computing technique which provided smooth, reliable curves. It was found, from an examination of the effect of data smoothing on computed friction characteristics, that the moving average method can be recommended. Variation of normal displacement of the sliding body during the slip period was examined together with tangential displacement and electrical contact resistance. The friction-velocity relationship was well explained by an assumption that the instantaneous friction variation results from the change in real area of contact resulting from normal displacement occuring in an elastic contact.     

45钢的摩擦磨损特性实验研究

采用自制的销盘式干滑动摩擦磨损试验机,研究了45钢配副的摩擦磨损特性.结果表明:材料的磨损率随着速度、载荷的增加而增大;摩擦系数随着速度、载荷的增加而减小.磨损机理主要为磨粒磨损和粘着磨损.     

谐波摩擦传动单级最小传动比研究

基于滚轮式波发生器的双波传动模型,分析谐波摩擦传动中柔轮的受力情况,由柔轮疲劳强度校核公式,推导出谐波摩擦传动单级最小传动比的公式,并分析影响单级最小传动比的诸多因素。     

大型天文望远镜高精度摩擦传动的研究

提出了一种大型天文望远镜高精度摩擦传动的光学检测机构,用来检测主、从动轮旋转轴线的扭转角.并设计了相应的调整机构.利用这套机构使得主、从动轮的扭转夹角控制在30″以内.实验结果表明,在运行过程中没有出现抖动现象.传动系统长时间平稳运行的低速可达0.2″/s,运动位置精度RMS值为0.01″左右.30min内低速可达0.05″/s,位置精度RMS值为0.009″左右.正弦运动幅值30′,最大速度36″/s,最大加速度为0.18″/s2.这些指标满足了LAM OST天文望远镜的技术要求.克服了由于安装等原因导致旋转轴线之间存在扭转角,进而使得天文望远镜所跟踪的目标在视场中出现抖动,甚至严重会漂移出视场的局限,实现了外圆摩擦传动主、从动轮旋转轴线在空间平行的理想位置.     

大型天文望远镜摩擦传动系统低速特性的研究

研究了大型天文望远镜摩擦传动系统的运行原理和特性,并进行了实验。结果表明,影响摩擦传动低速稳定运行的因素很多,主要有:编码器的测量误差,环境变化引起的误差,摩擦力矩和电机波动力矩等引起的误差,以及加工制造和安装引起的误差。另外在整个传动链中其它部分的摩擦力矩也不可能是一个定值,也存在力矩波动。结果还表明,利用非线性PID控制算法增益参数非线性变化的特性,可以使得控制系统既能达到响应速度快,无超调的目的,又能增强抵抗影响摩擦传动低速稳定运行因素的能力。实验中,低速可以达到0.2″/s,位置精度为0.032″(RMS),证明了这种方法是行之有效的。     

A friction drive system for accurate positioning

A transmission system for positioning a conventional moving table has been constructed. The gearbox which has been inserted between the lead screw and the driving stepping motor is of the friction type. The resolution of the system has been measured to be less than 0.01 μm     

Control system design of a linear motor feed drive system using virtual friction

This paper proposes a friction compensator and a design method for control systems to improve the response characteristics of linear motor feed drive systems. The proposed friction compensator cancels the real nonlinear friction of feed drive systems by using the nonlinear friction model proposed in this study and introduces virtual linear friction to facilitate the control system design. The proposed design method enables the determination of servo gains and friction compensator parameters that lead to desirable tracking performance and disturbance rejection without many trial-and-error tuning processes. In addition, the proposed method facilitates the design of the velocity feedforward compensator by using the inverse transfer function of the velocity control loop to correct the position tracking errors for various position commands. The effectiveness of the proposed method with the friction compensator and the velocity feedforward compensator was verified in simulations and experiments using a one-axis feed drive system consisting of a rod-type linear motor and linear roller guides. The results confirmed that the proposed method enables desirable overshoot-free responses and corrects motion trajectory errors due to nonlinear friction characteristics, and the proposed velocity feedforward compensator can correct tracking errors in both constant velocity motion and circular motion.     

摩擦轮传动中滑动问题及其对传动比的影响

对摩擦轮传动中的滑动现象进行研究。介绍弹性滑动和几何滑动现象的机理,并以无级变速摩擦轮机构为例,分析和计算了两对摩擦轮接触处的弹性滑动和几何滑动对无级变速摩擦轮机构传动比的影响,提出了无级变速摩擦轮机构传动比及输出扭矩的计算公式。     

超精密摩擦传动机构

针对超精密传动机构定位精度高、行程大、运行平稳、激励振动小、系统可靠性高的要求,设计了一种双圆弧型驱动轮摩擦副的超精密摩擦传动机构,与圆柱型驱动轮摩擦副、双V型驱动轮摩擦副的结构相比,减小了接触应力,提高了接触刚度。应用赫兹接触理论对摩擦副的接触区域中最大接触应力以及接触变形量进行分析。实验表明该摩擦传动机构在300 mm全行程范围内,定位精度±10 nm。     

The influence of contact geometry on friction and wear characteristics

This paper describes some results of evaluating the influence of contact geometry on tribological characteristics. Friction characteristics obtained for a distributed contact (pin‐on‐disc and block‐on‐ring), a linear concentrated contact (pin and vee‐block and block‐on‐ring) and a point concentrated contact (ball‐on‐disc and three cylinder‐cone) are presented. The wear scars were analysed using scanning electron microscopy (SEM) and energy dispersive spectrometry (EDS). The results show different values of friction and wear coefficients for the different types of contact geometry. The paper also assesses the effect of non‐test characteristics, e. g., vibration.     

基于虚拟样机技术的液粘传动系统研究

利用MSC.ADAMS软件建立了液粘软起动多体动力学仿真模型,对该机构进行了运动仿真;对设计方案进行了评估,为设计改进提供了有价值的参考数据。     

天文光学望远镜摩擦驱动滑移动态检测与修正

考虑滑移对摩擦驱动望远镜精度的影响,提出了天文光学望远镜摩擦驱动滑移动态检测与修正的控制方法.建立了滑移动态检测系统、正压力主动调节系统、负载波动模拟和检测系统.用钢带光栅尺检测动负载位置,由同轴安装的角度编码器检测主动摩擦轮位置,根据减速比λ的变化判断主动轮和从动轮之间是否发生了相对滑移.主控单元可编程多轴运动控制器(PMAC)用来实时控制正压力电机进行压力修正并随之修正系统控制算法以提供足够的摩擦驱动力来减轻、消除滑移现象.实验表明:该方法能及时修正望远镜驱动系统出现的滑移,从而提高望远镜跟踪精度及可靠性.在最严重滑移的情况下,系统可在100 ms内判断出滑移,74.2 s完成校正并恢复望远镜的高精度跟踪.此方法既可用于单点摩擦驱动也可用于多点摩擦驱动,能够有效解决非线性干扰带来的滑移问题.     

Some considerations of slideway friction characteristics by observing stick-slip vibration

It is important to clarify the frictional characteristics of a slideway and to prevent unstable vibration, such as stick-slip vibration, for the improvement of kinematic performance and for precise positioning. In this research, the relations among the dynamic friction characteristics, the pitching motion or the floating up of the slider, the surface roughness of a slideway, and the lubricant property are investigated experimentally. As a result, some points necessary for the kinematic performance improvement of the slider are clarified.     

The repeatability of friction and wear results obtained from unlubricated reciprocating sliding tests

Laboratory tests can help in the analysis of tribological failures of elements, and improve tribo‐systems by choosing appropriate materials. In order to characterise the friction and wear behaviour of candidate materials, various different test methods have been developed in the past and are still in use. One such method is the reciprocating sliding of a ball against a disc. In the work reported here, the repeatability of friction and wear results was evaluated with ten tests under identical conditions with a steel (100Cr6) or alumina (Al₂O₃) ball against a steel (100Cr6) disc under unlubricated conditions at room temperature. The influence of ambient humidity on friction and wear behaviour was determined in three additional tests in dry and in moist air, respectively. The repeatability of friction coefficient in normal air was better than 5% for alumina/100Cr6 and 12% for 100Cr6/100Cr6, while the repeatability of volumetric wear was slightly better than 10% for alumina/steel, and slightly worse than 10% for steel/steel. For both couples the coefficient of friction is lowest in moist air and about 50% higher in dry air. The coefficient of wear is also least in moist air and higher by a factor of 3(5) in dry air for tests with a 100Cr6 (alumina) ball.     

Effect of applied voltage on friction and wear characteristics in mixed lubrication

The effect of an electric field applied between rubbing surfaces on friction and wear characteristics was examined using a ballon-disc testing apparatus under different lubrication conditions. The lubrication conditions were changed by changing the viscosity of the lubricants. By applying an electric field between the rubbing surfaces, the oxidation of the rubbing surface at the anode side is enhanced, and suppressed on the cathode side surface. The oxide film formed on the anode surface being harder than the bulk steel, the rubbing surface at the anode side was little worn, but that at the cathode side was abrasively worn. This wear characteristic could be utilised to attain favourable running-in. The application of an electric field, however, is considered to promote the breakdown of any EHL film formed. Therefore the effect of the application of an electric field between rubbing surfaces is influenced by the lubrication condition that is being tested.     

基于LabVIEW的数控机床形位误差精密测量系统

为了实现对数控机床形位误差精密测量,采用扭簧表及大理石平尺搭建导轨直线度测量装置,以HEIDENHAIN绝对式直线光栅尺为定位精度测量硬件,PC端通过数据采集卡获取测量信息,并基于LabVIEW开发虚拟仪器,实现了对数控机床导轨直线度、定位精度和重复定位精度项目的测量;提出了一种基于LabVIEW平台构建数控机床形位误差测量系统的新方案。在相同的检测参数下,对同一台数控机床进行检测,并与激光干涉仪测量的数据比对,激光干涉仪采用GB/T17421.2-2000统计分析方法,实验结果表明,本系统具备较高的测量分辨率和测量精度。