Virtual Play sv

Design Principles for Precision

2
Mechanisms F 2W
f
c 1 3
4. Hysteresis and Microslip L F 0 arctan(c )
4 f
Friction W 6 sv
2W
sv =
5 c

Hysteresis and Microslip 1 Hysteresis and Microslip 2

Friction and backlash

F if W = 0

s1 + s2 2W
s1 s2 W
f c
c
F arctan (c )
L
f
Friction W W
c

Hysteresis and Microslip 3 Hysteresis and Microslip 4

Hysteresis curve with distributed friction and compliance
Friction is load dependent: the butterfly-tie

3
F
2

1
0
f equilibrium in moving direction
Moment equilibrium :
F c
N =F
b F = cf + 2 μN =
a f 1 − 2μ b
a
7 F c
F = cf − 2 μN =
f 1 + 2μ b
a
Hysteresis and Microslip 5 Hysteresis and Microslip 6

Minimize virtual play

Hysteresis in clamped joints

lower friction

- uniform clamping pressure: σv

- friction coefficient: μ
- clamps are infinitely stiff
higher stiffness - force transfer under slip

Hysteresis and Microslip 7 Hysteresis and Microslip 8

Hysteresis in clamped joints
Alternating load in clamped joints
Fs
uclamp =
2 EA

EA
cclamp = 2
s

EA
cbeam =
l
F
Fs 2 ⋅ s ⋅ b ⋅ μ ⋅σ v = F → s = Fs
ubeam =
EA 2 ⋅ b ⋅ μ ⋅σ v sv =
2 EA
cross-section A
Hysteresis and Microslip 9 Hysteresis and Microslip 10

Minimising virtual play

Hysteresis-free clamping
Ap Ec
Ap ⋅ E p = Ac ⋅ Ec → =
Ac Ep

Fs
sv = ( A = bt )
2 EA
F2
Ÿ sv = Clamping of a tapered beam
4σ v μEb 2t
F is not very practical, maybe gluing is…

F
s=
2 ⋅ b ⋅ μ ⋅σ v
Hysteresis and Microslip 11 Hysteresis and Microslip 12
 Hysteresis-loops, summary
Transfer of torques analogies

tension glue tension glue

seam seam

Hysteresis and Microslip 13 Hysteresis and Microslip 14

Inaccurate z-positioning while clamping hubs (1/2)

Clamping a bush might cause axial displacement

Hysteresis and Microslip 15 Hysteresis and Microslip 16

 Inaccurate z-positioning while clamping hubs (2/2)
Clamping optical system of radial follower CD system

No axial slip if: L > 4⋅ D

(ν = 0.3 and μ ≈ ν )
Hysteresis and Microslip 17 Hysteresis and Microslip 18

Hysteresis in structures
Hysteresis in bolted connections (1/2)

preferebly high surface pressures

Hysteresis and Microslip 19 Hysteresis and Microslip 20

 A “bed of nails” for free-of-hysteresis clamping
Hysteresis in bolted connections (1/2)

Hysteresis and Microslip 21 Hysteresis and Microslip 22

Clamping a plate spring Stopping by means of clamping

2 Ebt
c finger = 2
y

F Width: b

Hysteresis and Microslip 23 Hysteresis and Microslip 24

Rotation of the cork eleviates the friction Alleviating friction by means of slip in a different direction

D
d
ϕ
v

v vl
1 Fw,l Fw
vt = ϕ ⋅ d
2
Fw

Hysteresis and Microslip 25 Hysteresis and Microslip 26

Self-locking Self-aligning gear wheel

self - locking if :
h l
G < 2 μG
h
G h < 2 μl

Fw = G 2 Fw = μ ⋅ Gl h
α
The locking can be alleviated when
rotating the shaft: sin α = h 2l ⋅ μ
Hysteresis and Microslip 27 Hysteresis and Microslip 28
Rapid and accurate tape feed mechanism
Self locking

F ⋅ sin α W

N
F α
self - locking if : α < μ

Hysteresis and Microslip 29 Hysteresis and Microslip 30

Positioning against pins

virtual play self-locking

2(W1 + W2 ) α
sv =
sv c The principle of self-positioning
c N?
μ μ
W1 ? W2 ?

Hysteresis and Microslip 31 Hysteresis and Microslip 32

 (1) determine the poles and nesting torque direction
(1) determine the poles and nesting torque direction
M = Fn ⋅ ε
Fn ε P2,3
Fn
n2 n3 n2 n3

P1,2 P1,3
P1,2 P1,2 1
n1 1 n1 1

2 3
2 3 2 3

Assumption: no friction in contacts!

Hysteresis and Microslip 33 Hysteresis and Microslip 34

(1) determine the poles and nesting torque direction (2) determine the prohibited zones

Fn
n2 n3 n2 n3

P1,2 n1 n1 P1,2
Fn 1 1

2 3 2 3

Hysteresis and Microslip 35 Hysteresis and Microslip 36

 Alternative: find Fn on basis of equal pin reaction
(2) determine the prohibited zones

Fn FR
P2,3 Fn
n2 n3 n2

Fc
1 1
P1,2 P1,3 R1 n3
Fc Fc Fn
n1 1 n1 1
2 3 2 3
R2 R3
2 3 2 3

Hysteresis and Microslip 37 Hysteresis and Microslip 38

(1) Or find Mn on basis of equal pin reaction

Mn

Now friction comes into play……

Hysteresis and Microslip 39 Hysteresis and Microslip 40

 μ
r2
ε

Fn
n2
n2
Fn
P1,2 P2,3 Fn P2,3 Fn
n1 1 n1 1
Fw,1 F n2
P1,2 r1
w, 2

2 3 2 3
P1,3 n3 P1,3
P1,2 P1,2
n1 1 1

2 3 2 3

Hysteresis and Microslip 41 Hysteresis and Microslip 42

D L

y
R l L
M L −l
P x
l 3 f
A
B ϕ C
l

Δ
F

R
M
L −l
Shortening ideal rotation
L
Hysteresis and Microslip 43 Hysteresis and Microslip 44
Well-defined line of action of the nesting force Fn

Fn B
A

Hysteresis and Microslip 45