Experimental Study into the Torsional Friction between AGV Wheel and Various Floors

Experimental Study into the Torsional Friction between AGV Wheel and Various Floors

Tomasz Bartkowiak, Wojciech Paszkowiak, Marcin Pelic, Adam Myszkowski

Abstract. This paper presents an outcome of the experimental study into torsional friction between small sized wheels, intended for AGV, while being in contact in three different floors. The dedicated test stand was developed, which allowed testing a wheel while turning at various velocities. Each wheel was loaded via a pneumatic actuator. Turning was performed by parallel mechanism by using a turntable powered by a stepper motor. Nine different wheels were tested at three different turning angular velocities. Linear characteristics were obtained between torque required to turn and normal load, which allowed estimation of the coefficients of torsional friction for each wheel. A clear material hysteresis while turning and returning was observed for most cases. It was found that hardness and wheel geometry play important roles in the torsional behavior under load.

Keywords
Torsional Friction, Coefficient Of Friction, Hysteresis, Wheel Turn

Published online 5/25/2019, 6 pages
Copyright © 2019 by the author(s)
Published under license by Materials Research Forum LLC., Millersville PA, USA

Citation: Tomasz Bartkowiak, Wojciech Paszkowiak, Marcin Pelic, Adam Myszkowski, Experimental Study into the Torsional Friction between AGV Wheel and Various Floors, Materials Research Proceedings, Vol. 12, pp 104-109, 2019

DOI: https://doi.org/10.21741/9781644900215-15

The article was published as article 15 of the book Experimental Mechanics of Solids

Content from this work may be used under the terms of the Creative Commons Attribution 3.0 licence. Any further distribution of this work must maintain attribution to the author(s) and the title of the work, journal citation and DOI.

References
[1] R. Cross, Increase in friction force with sliding speed, Am. J. Phys. 73 (2005) 812-816.
[2] F. Al-Bender, Fundamentals of friction modeling, Proceedings ASPE Spring Topical Meeting on Control of Precision Systems 48 (2010) 117-122.
[3] M. Wiercigroch, A note on the switch function for the stick-slip phenomenon, Journal of Sound and Vibration 175 (1994) 700-704. https://doi.org/10.1006/jsvi.1994.1559
[4] B. Drincić, Mechanical Models of Friction That Exhibit Hysteresis, Stick-Slip, and the Stribeck Effect, PhD Thesis, University of Michigan, 2012.
[5] H.B. Pacejka, Tyre and Vehicle Dynamics, second ed., Butterworth-Heinemann, 2006.
[6] S. Hong, J.K. Hedrick, Tire-Road Friction Coefficient Estimation with Vehicle Steering, IEEE Intelligent Vehicles Symposium IV (2013) 1227-1232. https://doi.org/10.1109/ivs.2013.6629634
[7] Y. Li, J. Zhang, X. Guan, Estimation of Vehicle Parameters and Road Friction Using Steering Torque and Wheel Speeds, WSEAS Transactions on Systems 11 (2012) 1-11.
[8] S. Wang, C. Niu, Torsional Tribological Behavior and Torsional Friction Model of Polytetrafluoroethylene against 1045 Steel, PLOS ONE 10 (2016) e0147598. https://doi.org/10.1371/journal.pone.0147598
[9] Y. Wei, C. Oertel, Y. Liu, X. Li, A theoretical model of speed-dependent steering torque for rolling tyres, Vehicle Syst. Dyn. 54 (2016) 463-473. https://doi.org/10.1080/00423114.2015.1111391
[10] J. Loof, I. Besselink, H. Nijmeijer, Component based modeling and validation of a steering system for a commercial vehicle, The Dynamics of Vehicles o Roads and Tracks IAVSD 2015 (2016) 15-24. https://doi.org/10.1201/b21185-4
[11] Z. Cai, M. Zhu, Z. Zhou, An experimental study torsional fretting behaviors of LZ50 steel, Tribology International 43 (2010) 361-369. https://doi.org/10.1016/j.triboint.2009.06.016
[12] J. Yu, Z. Cai, M. Zhu, S. Qu, Z. Zhou, Study on torsional fretting behavior of UHMWPE, Applied Surface Science 255 (2008) 616-618. https://doi.org/10.1016/j.apsusc.2008.06.179
[13] Z. Cai, M. Zhu, J. Zheng, X. Jin, Z. Zhou, Torsional fretting behaviors of LZ50 steel in air and nitrogen, Tribology International 42 (2019) 1676-1683. https://doi.org/10.1016/j.triboint.2009.04.031
[14] Z. Skup, Structural friction and viscous damping in a frictional torsion dumper, Journal of Theoretical and Applied Mechanics 40 (2002) 497-511.
[15] Z. Skup, Damping of vibrations in a power transmission system containing a friction clutch, Journal of Theoretical and Applied Mechanics 43 (2005) 875-892.
[16] H. Xu, K. Chen, D. Zhang, X. Yang, Torsional friction of the contact interface between the materials of an artificial knee joint replacement, Journal of Biomaterials Science 29 (2018) 562 581. https://doi.org/10.1080/09205063.2018.1426921