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 [UCI]I804:null-200000485546

Thesis for the Master of Science

Friction Modeling and Slip Estimation of the

Spiral Zipper Friction-Driven Prismatic
Actuator

Seo Hyeon LEE

Graduate School of Hanyang University

February 2021
 Thesis for the Master of Science

Friction Modeling and Slip Estimation of the Spiral

Zipper Friction-Driven Prismatic Actuator

Thesis Supervisor: Tae Won SEO

A T h es is s ubm itte d to the grad ua te s ch ool of

H a nya ng U nive rs ity in p a rtial f ulfillme nt of th e re q uire me nts
f or th e d e gree of Master of Science

Seo Hyeon LEE

February 2021

Department of Mechan ical Conve rgence Eng ineering

Graduate School of Hanyang University
 This thesis, written by Seo Hyeon Lee,
has been approved as a thesis for the Master of Science.

February 2021

Committee Chairman: Wei Wang

C om m ittee m em ber: Hwa Soo Kim

C om m ittee m em ber: Tae Won Seo

 Table of Contents
.............................................................................................................................................

ABSTRACT .............................................................................................................................. iii

Chapter 1. Introduction ............................................................................................................. １

Chapter 2. Hardware Design...................................................................................................... ３

Section 1. The ABS Band ........................................................................................................ ３

Section 2. Friction Wheel ........................................................................................................ ５

Section 3. Slider ...................................................................................................................... ６

Chapter 3. Dynamic Modeling................................................................................................... ８

Section 1. Kinematics.............................................................................................................. ８

Section 2. Kinetics ............................................................................................................... １１

Chapter 4. Simulations and Experiments................................................................................. １５

Section 1. Experiments ......................................................................................................... １５

Section 2. Simulations .......................................................................................................... １７

Chapter 5. Conclusion ............................................................................................................ ２０

Reference............................................................................................................................... ２１

국문 요지 ............................................................................................................................. ２２

i
 List of Figure
Fig. 1 (a) Spiral Zipper, (b) VGT formed by 12 Spiral Zippers ................................................... １

Fig. 2 Conceptual design of the band. The band has teeth on both edges and the
backing is glued on one edge. ............................................................................................ ３

Fig. 3 Geometry elements of the band........................................................................................ ４

Fig. 4 Feature of the friction wheel ............................................................................................ ５

Fig. 5 Feature of the slider ......................................................................................................... ６

Fig. 6 Overall operation principle of the Spiral Zipper ............................................................... ７

Fig. 7 (a) Diagram presenting assumptions in the Friction model where impacts
are involved, (b) actual model used in simulations. ............................................................. ８

Fig. 8 Set-up for experiments of the Spiral Zipper. .................................................................. １５

Fig. 9 Acceleration experiment results of the Spiral Zipper. ..................................................... １７

Fig. 10 Acceleration simulation results of the Spiral Zipper. .................................................... １９

ii
 ABSTRACT

Friction Modeling and Slip Estimation of the Spiral Zipper

Friction-driven Prismatic Actuator

Spiral Zipper is a novel prismatic actuator which utilizes a flexible ABS band to

extract a length-changeable cylindrical tube. It is driven by an omnidirectional

wheel exerting a frictional torque on the band. The tube is subjected to a frictional

torque on its cylindrical inner surface from the omnidirectional wheel. This

mechanism allows minimized processing for the surface on the band, but the

motion of the band is not fully constrained because of the slip. This paper

addresses methods of the slip expectation prior to the control system design. A

dynamics model considering the flexibility of the Spiral Zipper band was

established, and simulations on the dynamic model and validation experiments

were conducted. The relationship between the angular velocities of the wheel and

the band showed similar tendency to the experiments results. These results can

be basis for establishing the control model of the Spiral Zipper.

iii
 Chapter 1. Introduction

For a prismatic actuator, the extension ratio, which means the ratio of its fully

extended length to fully compressed length, is one of principal indices in that it

determines the task space of the device. Furthermore, it determines the shape-

changing ability of a robot utilizing several prismatic actuators. For example,

Variable Geometry Truss(VGT) locomotes on the basis of the high extension ratio

of the prismatic actuators[1]-[4]. Variable Topology Truss(VTT), which has an

ability to reconfigure the topology of VGT, utilizes high extension ratio of

prismatic actuators to conduct tasks such as shoring a collapsed objective in a

disaster site[5].

For these types of robots, it is advantageous to use prismatic actuators utilizing

thin flexible materials which can be transformed to a stiff object. By employing a

mechanism overlapping densely or stretching out the flexible materials, high

extension ratio with a light weight and a small volume of the device can be

achieved. Spiral Zipper, addressed in this thesis, is also this kind of a prismatic

actuator. It uses a flexible band to form a cylindrical tube. Fig. 1. shows its

appearance and the case applying for a VGT.

(a) (b)
Fig. 1 (a) Spiral Zipper, (b) VGT formed by 12 Spiral Zippers

１
 The initial model of the Spiral Zipper, designed by Collins, was operated by the

gears and a band which has holes on its surface where a gear teeth can latch [6].

However, in this structure, a merge of the two holes can occur if the band gets

excessive force from the gear. Also, the band should have lower strength due to

the holes. To complement these characteristics, we introduced friction-driving

mechanism using omnidirectional wheel. An omnidirectional wheel attached to the

motor drives the ABS band by exerting friction forces. This design makes the

hardware structure becomes simpler and the ABS band has higher durability by

removing the holes.

The utilization of friction-driving mechanism has such advantages, but the

displacement of the band becomes not fully combined with the displacement of the

friction wheel and its position control becomes to require slip estimation. Focusing

on that it is a device actuating an object with friction, there are some previous

works addressing slips of a sphere driven by rollers or omnidirectional wheels [7]-

[9]. Those works aim at preventing slips by kinematic analysis and slip detection

without considering dynamic frictional behavior of non-rigid materials. However,

since the Spiral Zipper is used for a prismatic actuator for robots, complicated

frictional behaviors caused by varying loads on the device during the operations

should be considered. This paper addresses the friction modeling method

considering those factors, for establishing a basis for the control system.

This paper presents the process for slip estimation of the Spiral Zipper. In

Chapter 2, a brief description on hardware and mechanism is presented. In Chapter

3, the dynamic modeling of the Spiral Zipper is presented. In Chapter 4, simulation

on the dynamics model and comparison with experimental result will be presented.

Finally, Chapter 5 will show conclusion.

２
 Chapter 2. Hardware Design

Parts of the Spiral Zipper can be broken to be ABS band, slider, and friction wheel.

This chapter describes each of the three parts and the operation principle of the

Spiral Zipper.

Section 1. The ABS Band

Fig. 2 shows the conceptual design of the band. The band has teeth on its two

long edges, and it forms a cylindrical tube when the teeth on both edges are

meshed. More detailed principle of the tube formation will be described in Section

4 in this chapter. To reinforce the shear strength of the band, a backing, a strip of

ABS (0.01-inch-thick) is glued on upper teeth of the band. As the meshed teeth

are covered by the backing, de-meshing of the teeth by radial shear stress can

be prevented as a result.

Fig. 2 Conceptual design of the band. The band has teeth on both edges and the backing is
glued on one edge.

３
 Fig. 3 shows geometry elements of the band. The meanings of the elements are

as follow:

Fig. 3 Geometry elements of the band

𝐻𝐵 =Band height,

𝐻𝑇 =Tooth height,

β𝐼 =Helix incline angle,

𝑃𝐵 =Band helix pitch,

𝐷=Band diameter,

𝑆𝐵 =Arc length of one wrap,

𝑁=Number of teeth in a single wrap,

𝑃𝑇 =Band tooth pitch,

𝐻=Overall column height,

𝐿𝐵 =Length of band.

Assuming that the band diameter and heights of the band and a tooth have

been chosen, the helix angle β𝐼 can be calculated by:

𝐻𝐵 − 𝐻𝑇
β𝐼 = sin−1 . (1)
π𝐷
And the pitch can be calculated by:

𝐻𝐵 − 𝐻𝑇
𝑃𝐵 = . (2)
cos β𝐼
Now, the tooth pitch is

４
 𝑆𝐵
𝑃𝑇 = , (3)
𝑁
and the extended height with the chosen length of the band is

𝐿𝐵
𝐻= 𝑃 , (4)
𝑆𝐵 𝐵
where

𝑆𝐵 = √(𝑃𝐵 )2 + (π𝐷)2 . (5)

Section 2. Friction Wheel

The friction wheel generates high friction force between itself and the ABS band.

The friction wheel is made up of eight bushings and eight rubber rollers so that

form an omnidirectional wheel as shown in Fig. 4. A planetary geared motor

connected to the friction wheel by its shaft is fixed to the center of the band tube.

When the motor is powered and the friction wheel rotates, the band tube is subject

to the frictional torque and moves helically. Meanwhile, the rollers spin to allow

the band to move freely in the vertical direction, inhibited only by rolling friction.

Fig. 4 Feature of the friction wheel

５
Section 3. Slider

Slider is a part where the motion of the band is guided and the teeth on the band

are meshed. Feature of the slider is shown in Fig. 5. A cylindrical column in the

center of the slider has a ramp on the surface. Initially, the first end of the band

goes into the band entrance and wrapped along the slider ramp by hand. When

making the teeth on the roller passes through the meshing roller next to the ramp,

the teeth are meshed and the band starts forming a cylindrical tube.

Fig. 5 Feature of the slider

The center hole is a space for fixing the planetary geared motor. The motor

connected to the friction wheel is fixed by screws through the three holes on the

upper side of the center column. By this way, the friction wheel operated by the

motor exerts friction torque on the band tube, and the band tube moves helically

along the slider. Fig.6 shows this principle briefly.

６
 Fig. 6 Overall operation principle of the Spiral Zipper

Since the band is driven by friction, not any interlocking mechanism, there can

be a slip between the wheel and the band. This makes controlling the motion of

the band require a slip compensation, so we tried to analyze the slip aspect

between the two parts. The dynamic model of the Spiral Zipper is established to

analyze the slip aspect and it is addressed in Chapter 3.

７
 Chapter 3. Dynamic Modeling

In this chapter, a method for the dynamic modeling of the Spiral Zipper using

Kane’s method[10] is presented. The band of the Spiral Zipper is flexible, so there

are deformations between the rollers of the friction wheel and the inner surface

of the band tube. It causes instantaneous interlocking between the two bodies and

impact between the friction wheel and the band. Section 1 presents the kinematic

equations describing the motions in the system. Section 2 presents the kinetic

model including the impact force between the friction wheel and the band tube.

Section 1. Kinematics

(a) (b)

Fig. 7 (a) Diagram presenting assumptions in the Friction model where impacts are involved, (b)
actual model used in simulations.

To simplify the equations, the band tube is assumed to only rotate and not to

move in vertical direction. To model the deformations of the band from the contact

with the friction wheel, small circles are assumed to be connected to the inner

surface of the band tube by each rotational spring and damper. The band tube

８
rotates by the impact between the dots and the rotating friction wheel. Fig. 7(a)

shows the diagram presenting assumptions above and how to express them in

kinematics, and Fig. 7(b) shows the actual simulation model. In this section,

kinematic elements in the system are defined focusing on application of Kane’s

method[10].

The number of small circles and definitions of the coordinates in Fig. 7(a) are as

follow:

𝑁𝑐 =The number of small circles,

𝜃𝑤 =Angular displacement from x-axis of the friction wheel,

𝜃𝑏 =Angular displacement from x-axis of the band,

𝜃𝑖 =Angular displacement from x-axis of the i-th circle,

𝛼𝑖 =Angular distance from 𝜃𝑏 of the rotation center of the i-th circle.

Generalized coordinates

Generalized coordinates are defined as

𝑞𝑤 = 𝜃𝑤 , 𝑞𝑏 = 𝜃𝑏 , 𝑞𝑖 = 𝜃𝑏 − 𝜃𝑖 (𝑖 = 1, 2, ⋯ , 𝑁𝑐 ). (6)

Generalized speeds

Generalized speeds are defined as

𝑞̇ 𝑤 = 𝜃̇𝑤 , 𝑞̇ 𝑏 = 𝜃̇𝑏 , 𝑞̇ 𝑖 = 𝜃̇𝑏 − 𝜃̇𝑖 (7)

Next, kinematic elements of each body and partial velocities obtained from them

is presented. Note that not specified partial velocities are zero.

Friction wheel

Kinematic elements of the friction wheel are defined as follow:

９
 ⃗⃗⃗ 𝑊 = 𝑞̇ 𝑤 𝑎̂3 ,
𝛚 (8)

𝐫 𝑂𝑊 = 𝑅𝑤 𝑎̂1 , (9)

𝐯⃗ 𝑊 = 𝛚
⃗⃗⃗ 𝑊 × 𝐫 𝑂𝑊 = 𝑞̇ 𝑤 𝑅𝑤 𝑎̂2 , (10)

𝐚⃗𝑊 = 𝛂
⃗ 𝑊 × 𝐫 𝑂𝑊 + 𝛚 ⃗⃗⃗ 𝑊 × 𝐫 𝑂𝑊 ) = 𝑅𝑤 𝑞̈ 𝑤 𝑎̂2 − 𝑅𝑤 𝑞̇ 𝑤 2 𝑎̂1 ,
⃗⃗⃗ 𝑊 × (𝛚 (11)

The partial velocities from obtained velocity of the friction wheel is

⃗⃗⃗ 𝑊
𝛚 𝑤 = 𝑎
̂3 , (12)

𝐯⃗𝑤𝑊 = 𝑅𝑤 𝑎̂2 . (13)

Band

Kinematic elements of the band are defined as follow:

⃗⃗ 𝐵 = 𝑞̇ 𝑏 𝑏̂3
⃗𝛚 (14)

𝐫 𝑂𝐵 = 𝑅𝑏𝑜 𝑏̂1 (15)

⃗⃗⃗ 𝐵 × 𝐫 𝑂𝐵 = 𝑅𝑏𝑜 𝑞̇ 𝑏 𝑏̂2

𝐯⃗ 𝐵 = 𝛚 (16)

𝐚⃗𝐵 = 𝛂
⃗ 𝐵 × 𝐫 𝑂𝐵 + 𝛚 ⃗⃗⃗ 𝐵 × 𝐫 𝑂𝐵 ) = 𝑅𝑏𝑜 𝑞̈ 𝑏 𝑏̂2 − 𝑅𝑏𝑜 𝑞̇ 𝑏 2 𝑏̂1
⃗⃗⃗ 𝐵 × (𝛚 (17)

The partial velocities from obtained velocity of the band are

⃗⃗ 𝐵𝑏 = 𝑏̂3 ,
⃗𝛚 𝐯⃗𝑏𝐵 = 𝑅𝑏𝑜 𝑏̂2 . (18)

Small circles

Kinematic elements of the i-th small circle are defined as follow:

⃗⃗⃗ 𝑃𝑖 = 𝑞̇ 𝑖 𝑝̂𝑖3
𝛚 (19)

𝐫 𝑂𝑄𝑖 = 𝑅𝑏𝑜 𝑞̂𝑖1 (20)

𝐯⃗ 𝑄𝑖 = 𝛚
⃗⃗⃗ 𝐵 × 𝐫 𝑂𝑄𝑖 = 𝑅𝑏𝑜 𝑞̇ 𝑏 𝑞̂𝑖2 (21)

𝐚⃗𝑄𝑖 = 𝛂
⃗ 𝐵 × 𝐫 𝑂𝑄𝑖 + 𝛚 ⃗⃗⃗ 𝐵 × 𝐫 𝑂𝑄𝑖 ) = 𝑅𝑏𝑜 𝑞̈ 𝑏 𝑞̂𝑖2 − 𝑅𝑏𝑜 𝑞̇ 𝑏 2 𝑞̂𝑖1
⃗⃗⃗ 𝐵 × (𝛚 (22)

𝐫 𝑂𝑃𝑖 = 𝐫 𝑂𝑄𝑖 + 𝐫 𝑄𝑖𝑃𝑖 = 𝑅𝑏𝑜 𝑞̂𝑖1 − 𝑑𝑝̂𝑖1 (23)

𝐯⃗𝑃𝑖 = 𝐯⃗ 𝑄𝑖 + 𝛚
⃗⃗⃗ 𝑃 × 𝐫 𝑄𝑖𝑃𝑖 = 𝑅𝑏𝑜 𝑞̇ 𝑏 𝑞̂𝑖2 − 𝑑𝑞̇ 𝑖 𝑝̂𝑖2 (24)

𝐚⃗𝑃𝑖 = 𝐚⃗𝑄𝑖 + 𝛚 ⃗⃗⃗ 𝑃 × 𝐫 𝑄𝑖𝑃𝑖 ) = 𝑅𝑏𝑜 𝑞̈ 𝑏 𝑞̂𝑖2 − 𝑅𝑏𝑜 𝑞̇ 𝑏 2 𝑞̂𝑖1 − 𝑑𝑞̈ 𝑖 𝑝̂𝑖2 + 𝑑𝑞̇ 𝑖 2 𝑝̂𝑖1
⃗⃗⃗ 𝑃 × (𝛚 (25)

１０
The partial velocities of obtained velocity of the small circle are

𝑃 𝑃
𝐯⃗𝑏 𝑖 = 𝑅𝑏𝑜 𝑞̂𝑖2 , 𝐯⃗𝑖 𝑖 = −𝑑𝑝̂𝑖2 . (26)

Section 2. Kinetics

To derive equations of motion with the Kane’s method, the generalized

inertia forces and the generalized active forces should be defined. This section is

divided into two parts, addressing each force.

Generalized Inertia Forces

The system is composed of a friction wheel, a band tube, and small circles. The

friction wheel and the band tube are assumed to be rigid bodies which only have

rotational motions, and the small circles are particle mass. Therefore, the

elements required for derivation of the generalized inertia forces are as follow:

𝐼𝑊 =Moment of Inertia of the Friction Wheel about 𝑛̂3 ,

⃡
𝐈𝑾 =Inertia dyadic of the Friction Wheel,

𝐼𝐵 =Moment of Inertia of the Band about 𝑛̂3 ,

⃡
𝐈𝑩 =Inertia dyadic of the Band,

𝑚𝑐 =Mass of a Small Circle,

⃗𝑾
𝐓 ∗
= Inertia torque of the Friction Wheel

⃗ 𝑩∗ =Inertia torque of the band,

𝐓
⃗ ∗𝑷 =Inertia force of a circle.
𝐑 𝒊

Now, the inertia dyadic of the friction wheel and the inertia dyadic of the friction

wheel are defined as

1 1
⃡
𝐈𝑾 = 𝐼𝑊 𝑛̂1 𝑛̂1 + 𝐼𝑊 𝑛̂2 𝑛̂2 + 𝐼𝑊 𝑛̂3 𝑛̂3, (27)
2 2

１１
 1 1
⃡𝐈𝑩 = 𝐽𝐵 𝑛̂1𝑛̂1 + 𝐽𝐵 𝑛̂2 𝑛̂2 + 𝐽𝐵 𝑛̂3𝑛̂3 . (28)
2 2

respectively. Inertia torques of the friction wheel, the band, and the inertia force

of a circle are defined as

⃗𝑾
𝐓 ∗
= −𝐈⃡𝑾 ⋅ 𝛂 ⃗⃗⃗ 𝑊 × (𝐈⃡𝑾 ⋅ 𝛚
⃗ 𝑊 −𝛚 ⃗⃗⃗ 𝑊 ), (29)

⃗ 𝑩∗ = −𝐈⃡𝑩 ⋅ 𝛂
𝐓 ⃗⃗⃗ 𝐵 × (𝐈⃡𝑩 ⋅ 𝛚
⃗ 𝐵−𝛚 ⃗⃗⃗ 𝐵 ), (30)

⃗𝐑∗𝑷 = −𝑚𝑐 ⋅ 𝐚⃗𝑃𝑖 . (31)

𝒊

Finally, the generalized inertia forces for respective partial velocities are defined

as

𝑁𝑑

𝐹𝑟∗ = ⃗⃗⃗ 𝑊
𝛚 𝑟
⃗𝑾
⋅𝐓 ∗ ⃗ 𝑩∗ + ∑ 𝐯⃗𝑟𝑃𝑖 ⋅ ⃗𝐑∗𝑷 .
⃗⃗⃗ 𝐵𝑟 ⋅ 𝐓
+𝛚 (32)
𝒊
𝑖=1

Generalized Active Forces

The elements required for derivation of the generalized active forces are as

follow:

⃗ 𝑚 =Motor torque,
𝐓

𝐫 𝑊𝑃𝑖 =Relative position between i-th small circle and the roller,

𝑡𝑐 =Radius of a small circle,

𝑡𝑟 =Radius of a circle-shaped roller,

𝐅𝑖𝑚𝑝(𝑖) =Impact force between i-th small circle and the roller,

𝑉𝑖 =Elastic energy function of the spring connected to a small circle,

𝐷𝑖 =Energy dissipation function of the damper connected to a small circle,

𝜇1 =Coulomb’s friction coefficient between the band tube and the slider.

The motor torque can be described as follows:

⃗ 𝑚 = 𝑇𝑚 𝑛̂3,
𝐓 (33)

１２
where 𝑇𝑚 is the value of the motor torque.

The impact forces between the small circles and the roller can be defined by the

nonlinear viscoelastic impact model[11]. The generalized equation of the nonlinear

viscoelastic impact force is as follows:

𝐹  =  𝑘𝛿 𝑛   +  𝑏𝛿 𝑛 𝛿̇, (34)

where 𝑘 and 𝑏 are the elasticity coefficient and damping coefficient between two

bodies, respectively. Applying the equation above, the impact force between i-th

small circle and the roller is described as

𝑑|𝐫 𝑊𝑃𝑖 | 𝐫 𝑊𝑃𝑖

(𝑡𝑐 + 𝑡𝑟 − |𝐫 𝑊𝑃𝑖 |)𝑛 {𝑘𝑖𝑚𝑝 + 𝑏𝑖𝑚𝑝 (− )} ⋅ 𝑊𝑃 , if 𝑡𝑐 + 𝑡𝑟 ≥ |𝐫 𝑊𝑃𝑖 |,
𝑑𝑡 |𝐫 𝑖 |
𝐹𝑖𝑚𝑝(𝑖) =
0, if 𝑡𝑐 + 𝑡𝑟 < |𝐫 𝑊𝑃𝑖 |.
{

(35)

where 𝑘𝑖𝑚𝑝 is the elasticity coefficient and 𝑏𝑖𝑚𝑝 is the damping coefficient

between a small circle and the roller. In this thesis, 𝑛 = 3 is used for the

simulations.

Elastic energy function of the spring and energy dissipation function of the

damper connected to a small circle can be described as

1 1
𝑉𝑖 = 𝑘𝑐 𝜃𝑖 2 = 𝑘𝑐 (𝑞𝑏 − 𝑞𝑖 )2 , (36)
2 2
1 2 1
𝐷𝑖 = 𝑏𝑐 𝜃̇𝑖 = 𝑏𝑐 (𝑞̇ 𝑏 − 𝑞̇ 𝑖 )2 , (37)
2 2
where 𝑘𝑐 and 𝑏𝑐 are the elasticity coefficient and the damping coefficient

connected to a small circle, respectively.

The band tube also gets friction torque from the slider. In this work, the friction

is modeled with the approximation of the Coulomb’s friction model[12]. Let’s

define the static friction coefficient as 𝜇1𝑠 , and the kinetic friction coefficient as

１３
𝜇1𝑠 . Assuming that an object moving within a small distance 𝛾 can be regarded as

static, 𝜇1 , the friction coefficient function of the relative angular velocity 𝑞̇ 𝑏 , can

be described as

𝑠𝑔𝑛(𝑞̇ 𝑏 ) ⋅ 𝜇1𝑠 |𝑞̇ 𝑏 |/𝛾 if 𝑞̇ 𝑏 ≤ 𝛾,

𝜇1 (𝑞̇ 𝑏 ) = 𝑠𝑔𝑛(𝑞̇ 𝑏 ) ⋅ (𝜇1𝑠 − 2(𝜇1𝑠 − 𝜇1𝑘 )(|𝑞̇ 𝑏 | − 𝛾)⁄𝛾) if 𝛾 < 𝑞̇ 𝑏 ≤ 1.5𝛾, (38)

{ 𝑠𝑔𝑛(𝑞̇ 𝑏 ) ⋅ 𝜇1𝑠 if 𝑞̇ 𝑏 > 1.5𝛾.

The lever arm of the friction torque from the slider is 𝑅𝑏𝑜 , the normal force

between the band tube and the slider is 𝑚𝑏 𝑔, and the unit vector indicating the

rotational direction is 𝑛̂3 . Therefore, the frictional torque is defined as

⃗ 𝑓)
(T = −𝑅𝑏𝑜 𝜇(𝑞̇ 𝑏 )𝑚𝑏 𝑔𝑛̂3 . (39)
𝑠𝑙𝑖𝑑𝑒𝑟

As a result, the generalized inertia forces for respective partial velocities are

defined as

𝑃 𝜕𝑉 𝜕𝐷
⃗⃗⃗ 𝑊
𝐹𝑟 = 𝛚 ⃗ ⃗ 𝑟𝐴 ⋅ (−𝐹𝑖𝑚𝑝(𝑖) ) + 𝛚
𝑟 ⋅ 𝑇𝑚 + 𝐯
⃗ 𝑓)
⃗⃗⃗ 𝐵𝑟 ⋅ (T + 𝐯⃗𝑟 𝑖 ⋅ 𝐹𝑖𝑚𝑝(𝑖) − − . (40)
𝑠𝑙𝑖𝑑𝑒𝑟 𝜕𝑞𝑟 𝜕𝑞̇ 𝑟

Equations of Motion

With the generalized inertia forces and the generalized active forces, the
equations of motion are as follow:

𝐹𝑟∗ + 𝐹𝑟 = 0, 𝑟 = 𝑤, 𝑏, 1, ⋯ , 𝑁𝑐 . (41)

As a result, we can obtain equations of 𝑁𝑐 + 2.

１４
 Chapter 4. Simulations and Experiments

Section 1. Experiments

Fig. 8 shows set-up for the experiments. The last end of the Spiral Zipper band

was fixed to a turn table bearing, and the outer ring of the bearing was fixed to

the linear guide plate on which balance weights can be put. To record the angular

position of the friction wheel and the band, an external rotary encoder was

attached to the band. For velocity control of the motor of the friction wheel, PI

control was used with Arduino Due.

Fig. 8 Set-up for experiments of the Spiral Zipper.

Fig. 9 shows results of experiments with different accelerations of the friction

wheel. In the experiments, 1kg of balance weights were put on the plate. Ignoring

noises caused by uneven quality of the inner surface of the band, the angular

velocity of the friction wheel determined the relative velocity between the wheel

and the band. Acceleration almost did not affect the relative angular velocity, so

it also did not decrease when the acceleration stopped.

１５
 (a)

(b)

１６
 (c)
Fig. 9 Acceleration experiment results of the Spiral Zipper.
(a) 𝜔𝑟𝑒𝑓 = 0.1πt, (b) 𝜔𝑟𝑒𝑓 = 0.2πt, (c) 𝜔𝑟𝑒𝑓 = 0.5πt.

Section 2. Simulations

To simulate situations similar to the experiments, three simulations with

different accelerations 𝜔𝑟𝑒𝑓 = 0.1πt, 0.2πt, 0.5πt were conducted. Modified-Euler

method was used for the simulation and the time step was chosen as 0.1ms. The

values of the number of small circles and coefficients in the models are arbitrarily

chosen as 𝑁𝑑 = 100, 𝑘𝑐 = 50Nmm⁄rad, 𝑏𝑐 = 7.5Nmm ⋅ s⁄rad, 𝑘𝑖𝑚𝑝 = 4000Nmm⁄rad,

𝑏𝑖𝑚𝑝 = 20Nmm ⋅ s⁄rad.

１７
(a)

(b)

１８
 (c)
Fig. 10 Acceleration simulation results of the Spiral Zipper.
(a) 𝜔𝑤ℎ𝑒𝑒𝑙 = 0.1πt, (b) 𝜔𝑤ℎ𝑒𝑒𝑙 = 0.2πt, (c) 𝜔𝑤ℎ𝑒𝑒𝑙 = 0.5πt.

Fig. 10 shows the simulation results. The change of the relative angular velocity

in accordance with the angular velocity of the friction wheel showed similar

tendency with the experiments. The simulation results are obtained by arbitrary

coefficients. However, there is importance in this results in that general sliding

friction model cannot explain the slip in the motion without acceleration.

１９
 Chapter 5. Conclusion

The flexible band of the Spiral Zipper is driven by friction exerted from the

friction wheel. In experiments, the band slipped from the friction wheel, not only

when the wheel was being accelerated but also rotating in a constant angular

velocity. Also, the relative velocity between the two parts was almost not affected

by the acceleration of the wheel. This phenomenon could not be shown by

simulations with Coulomb’s model or LuGre friction, but it could be shown by the

impact-involved friction model addressed in this paper. By describing the

transmission with normal impact forces instead of sliding friction, we obtained the

simulation results showing slip aspect hardly affected by the acceleration.

This model has totally four coefficients: two elasticity coefficients and two

damping coefficients, but the method for defining those coefficients is not

established yet. After the method is established by further experiments, the slip

of the band can be more accurately estimated by simulations and result data can

be used for the modeling of the control system.

２０
 Reference

[1] S. Curtis et al., "Tetrahedral Robotics for Space Exploration," in IEEE Aerospace and Electronic Systems
Magazine, vol. 22, no. 6, pp. 22-30, June 2007.

[2] N. Usevitch, Z. Hammond, S. Follmer and M. Schwager, "Linear actuator robots: Differential
kinematics, controllability, and algorithms for locomotion and shape morphing," 2017 IEEE/RSJ
International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, 2017, pp. 5361-
5367.

[3] S. Park, E. Park, M. Yim, J. Kim and T. W. Seo, "Optimization-Based Nonimpact Rolling Locomotion
of a Variable Geometry Truss," in IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 747-752,
April 2019.

[4] S. Park, J. Bae, S. Lee, M. Yim, J. Kim and T. Seo, "Polygon-Based Random Tree Search Planning for
Variable Geometry Truss Robot," in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 813-819,
April 2020.

[5] E. Park, J. Bae, S. Park, J. Kim, M. Yim and T. Seo, "Reconfiguration Solution of a Variable Topology
Truss: Design and Experiment," in IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 1939-1945,
April 2020.

[6] F. Collins and M. Yim, "Design of a spherical robot arm with the Spiral Zipper prismatic joint," 2016
IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp. 2137-2143.

[7] M. West and H. Asada, "Design and control of ball wheel omnidirectional vehicles," Proceedings of
1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995, pp. 1931-1938
vol.2

[8] L. Ferriere and B. Raucent, "ROLLMOBS, a new universal wheel concept," Proceedings. 1998 IEEE
International Conference on Robotics and Automation (Cat. No.98CH36146), Leuven, Belgium, 1998,
pp. 1877-1882 vol.3,

[9] A. Weiss, R. G. Langlois, and M. J. D. Hayes, “Dynamics and vibration analysis of the interface between
a non-rigid sphere and omnidirectional wheel actuators,” Robotica, vol. 33, no. 9, pp. 1850–1868, 2015

[10] Roithmayr, C. M., and Hodges, D. H. (September 28, 2016). "Dynamics: Theory and Application of
Kane's Method." ASME. J. Comput. Nonlinear Dynam. November 2016; 11(6): 066501.

[11] Ahmad, M., K. Ismail and F. Mat. “Impact models and coefficient of restitution: A review.” (2015).

[12] Wojtyra, M. Modeling of static friction in closed-loop kinematic chains—Uniqueness and parametric
sensitivity problems. Multibody Syst Dyn 39, 337–361 (2017).

２１
 국문 요지

Spiral Zipper 는 유연한 ABS 밴드를 활용해 길이가 변하는 원통형 튜브를

추출하는 선형 액추에이터이다. ABS 밴드로부터 형성된 튜브 내부 표면은 전방향

마찰바퀴에 의해 마찰 토크를 받으며 구동된다. 이러한 메커니즘을 적용시킴으로써

표면 가공없이 밴드를 이동시킬 수 있지만, 슬립으로 인해 밴드의 회전수가 모터의

회전수와 일치하지 않는 문제가 발생하여 원활한 제어를 위해서는 슬립 보상이

필요하게 된다. 본 논문은 스파이럴 지퍼의 제어시스템 설계에 앞선 슬립 예측

방법을 다룬다. Spiral Zipper 밴드의 유연성을 고려한 역학 모델을 확립하였고, 역학

모델에 대한 시뮬레이션 및 실험을 통한 검증을 수행하였다. 시뮬레이션을 통해 얻은

마찰바퀴의 각속도와 밴드의 각속도의 관계는 실험 결과와 유사한 경향을 보였다.

이를 통해 얻은 데이터는 스파이럴 지퍼의 제어 시스템을 확립하는 기초가 될 수

있다.

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２３
２４