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Modelling and identification of pre-sliding and sliding friction in ultra-high precision positioning systems

Frictional disturbances limit the achievable performances of ultra-high precision positioning devices. Frictional effects are commonly referred to the sliding and pre-sliding motion regimes and can be described via different friction models. The integrated Generalised Maxwell Slip model is adopted in this work since it describes reliably frictional phenomena in both regimes via a continuous function. With the aim of characterising the physical properties related to friction of a device comprising multiple frictional sources and motion regimes, a translational axis of an ultra-high precision micromanipulation device is considered. Suitable experimental set-ups are conceived to identify experimentally off-line the respective friction parameters. All these allows developing an overall MATLAB/SIMULINK model of the used positioning device creating the preconditions for compensating efficiently frictional disturbances. The modelled response matches excellently experimental data, confirming thus its validity.

Pre-sliding and sliding friction ; friction identification ; experimental set-ups ; GMS friction model ; micromanipulation

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