空気圧シリンダのメータアウト速度制御時のスティックスリップ現象

第1報摩擦特性とスティックスリップ現象

抄録

Pneumatic cylinders may not achieve steady motion in applications where a low velocity is required due to the stick-slip effect. However, an effective means to assess the possibility of stick-slip occurrence in pneumatic cylinders has not been reported. Despite friction characteristics is an important parameter on stick-slip motion, there are only few studies on friction force at low velocities and actual comparisons of experimental and simulation results for stick-slip motion have not been shown. As a result, it is still unknown in what extent stick-slip motion can be described by simulation and under what conditions stick-slip may occur.
In this first report, stick-slip motion in pneumatic cylinders is studied. Friction force is measured and modeled considering the Stribeck effect. Simulation results show that stick-slip motion can be described with good accuracy. The results of this first report will be used to study the occurrence conditions in the second report.