Investigation of Selection Mechanism of Friction Models in Multibody Systems

Abstract

In order to research the influence of the different friction models on the frictional characteristics and the dynamic response of the multibody system with different kinds of joints, eleven different kinds of friction models were used in three different specified scenarios. Firstly, each friction model is simply introduced, and its friction characteristics are illustrated. In addition, in order to test the physical properties of these friction models, there are two different scenarios: (i) multibody system with revolute joint; (ii) multibody system with revolute joint and prismatic joint simultaneously. Secondly, when these friction models are applied in the scenarios, the comparison analysis between with friction phenomenon model and without friction phenomenon model is implemented, which is validated by the commercial software ADAMS. Finally, the simulation shows that the type of joint in the multibody system has a significant effect on the selection mechanism of these friction models. Namely, this investigation provides a reference method for choosing the friction model that is the best suitable for the above two different scenarios according to the computational efficiency and position stability.