Friction identification and active elimination on multi-DoF mechanism

Abstract

The paper deals with the newly improved symmetrical version of the active absorber demonstrator that was built and identified. Using voice-coil actuators in legs, various force inputs have been fed into the absorber demonstrator, such as chirps, steps or white noise signals. The dynamic behaviour of the new demonstrator is significantly better than theoriginal one. Passive resistances are significantly reduced and the incidence of hard-to-predict stick-slip effects is much lower.