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Kannel
Battelle Columbus Laboratory,
Columbus, Ohio 43201
T. A. Dow
Precision Engineering Laboratory,
North Carolina State University,
Raleigh, N.C. 27695-7910
Introduction
Leaf spring
Hydrostatic bearings
Journal of Tribology
Drive motor
Traction bar
Idler roller
Capstan
Hydrostatic
bearings
"The resolution of the slide drive will be
0.2pin. (0.005yumj. This is the equivalent to
0.05 arc."
Fig. 1
Approach
The same general approach used for the normal stress
analysis [13] can be used for the shear stress computations. As
will be shown subsequently, the matrix equation is almost
identical to that developed by Gupta-Walowit for the normal
stress computations. That is the deformation equations can be
put in the matrix form:
CF=e
(1)
where C is the matrix equation with elements c,y that relate the
tangential deflection, e, to the tangential forces. As with the
normal stress equations, a relationship between point-loads
and point stresses can be developed.
Matrix Coefficients
For a solid body, Poritsky derived a similar relationship for
load-deflection coefficients as for normal stress coefficients,
that is
4(1
7rE
v2)
In I/-1
(2)
Table 1
1
-s
zt
\-z
' -
_ (1 + " ! '
1) 3 - z - \'(\-z)
(1 + 1-! ")-2z/s
z-= lsl
? = exp(z)
-,2
-z
where
Z(vx
1
1
(1+z)?
(l-v,')z?
(1 + I V ) ?
z?
2z/s ]l
Di
(1-K2')Z?
-(1-K2")7?
(y2'
A2
3)7?
1
0
-i
.B2 J
s
. 2z7?/s'
=
=
^oj
/3 = ( 1 - ^ 2 ) E , / ( 1 - . , 2 ) E 3
7 = (l-J'22)Ei/(l-"i2)E2
v'=(2-v)/(\-v)
v"
c,
-?
2
[2 + ( l + z ) ( l - V ) J '
[(l + vx") +
--
=v/(\-V)
Inlet
(3)
J Xj -
\n\x:x\dx
(4)
Fig. 2
2(5
[Jo <
7rE
-Dx)(coss
f-cos5)cte
V(x,t)=CR(t)+
(5)
de
dx
(6)
where
S
where f =
oo
coss fcoss
ds-2|31n
*0
']
\r\/h
and the coefficients Bt and Z), are computed using the matrix
of Table 1. This equation is identical to Poritsky's formulation for s0 = 0.
Nomenclature
b
=
C, =
Dx =
E =
/ =
F =
F, =
G, =
h =
p =
ph =
pmax =
r =
constant Table 1
half width of contact
constant for Table 1
constant for Table 1
constant for Table 1
Young's modulus
coefficient of friction under
slip conditions (f= 0.3)
point tangential force
tractive force
shear modulus Gm = E/2
d + v)
thickness of layer
pressure
maximum Hertz pressure
maximum contact pressure
distance from point of load
application to deflection
\Xj Xj\
R\,R2
= cylinder radii
1
R
-f-
R{
R2
s = variable derived
from
Fourier transform
s0 = equation (5)
I = exp(z)
/ = time
u = deformation in x direction
v = deformation in j direction
V = velocity of a contact point
AV = slip velocity
x = coordinate
direction
tangential to surface
y = coordinate
direction
normal to surface
v
v
v'
v"
x
=
=
=
=
=
y =
T =
^ =
ratio of E(layer)/E(substrate)
ratio of E(layer)/E(indentor)
Kronecker delta
tangential
deflection
relative to a fixed point
r/h
y/h
Poisson's ratio
(2-v)/{\-v)
v/{\-v)
normal stress in tangential
direction
normal stress in radial
direction
shear stress
Airy's stress function
IOI
T,^iJ~coj)rjAx=ei(t)
Vt/b = 0
(12)
>=i
-VT/D^U.C
e-
Vt/b = 1.2
Y,(l--8jj
)(cu-c0J)TjAx=ei
/ = !
Fig. 3
-HhffPj^iJ-coj)-rJf=fPjf
where
+ At)=e(x,t)+AVAt
(7)
Note the point itself has advanced V A t and the deflection has
increased by an amount AV At. If the left side of this expression is expanded in a Taylor series we have
(JC,0+ -^- VAt+-At
dx
dt
= e(x,t)+AVAt
(8)
or
ii + J_A = ^
dx
dt
(9)
where
AV=V2-Vi
V=Vl
This expression is consistent with Kalker's equation. For the
steady state situation, equation (9) becomes
AV
e=x+CRi
(10)
If K, = 0 in equation (9), the horizontal deformation becomes:
e = AVt + CR2
(11)
(13)
J=Jj
jf are the points where ry > fpj. The essential size of the
matrix will be reduced by one row for each value of jf. The
computations involved a simple iteration starting with a full
matrix and subsequently reducing the matirx for each value of
Tj > fPj until further iterations produced no changes.
Discussion
Figure 3 illustrates the shear stress at the interface for the
case of a stationary lower cylinder (Vt/b = 0) and for a series
of relative slip values (Vt/b > 0). The slip values are expressed in terms of the half width, b. If Vt/b = 0.8, a point
on the upper cylinder has moved a distance equivalent to 80
percent of the half-width of contact between the cylinders.
For the case of a stationary lower disk (analogous to the
Cattaneo problem), the shear stresses are the lowest in the
center of contact and rise toward the edges. This rise is due to
the contribution of each element to support the shear
deformation outside the contact region. The rise in shear
stress is limited at x/b = 0.6 by slip between the cylinder
surfaces; that is, the shear stress becomes equal to the friction
coefficient times the normal stress. Thus, the shear stress
curve has the same shape as the normal stress distribution
where slip is present. For this example the horizontal load was
105 N/mm (600 lb/in.), and to produce this force, the upper
cylinder was rotated 2 X 10 ~4 rad (the upper surface moved 2
/mi).
Continued rotation of the upper cylinder would produce
rotation of the lower disk because the loading was assumed to
remain constant (analogous to Carter problem). Different
values of the upper cylinder motion are also illustrated in Fig.
3. For the largest rotation of the upper cylinder shown in Fig.
3 (Vt/b = 1.2, corresponding to 3.2 x 10 2 rad (about 2 deg)
of rotation), a point on the upper cylinder has moved a total
of 2.5 ^m from a point on the lower cylinder which was
adjacent at no load. This means that the driving cylinder will
rotate 2.7 x 10 4 rad more than the driven cylinder for an
average rotation of 3.2 X 10~2 rad against a load of 6001b.
One purpose of the analytical traction model was to
JULY 1986, Vol. 108/405
0.2
0.4
0.6
0.8
- 0 . 8 -0.6 -0.4 - 0 . 2
(14)
0.8
45
40
psi
35
"o
where
0.6
30
~ / ^\
\ -
Stress,
= Gmy = Gme/h
0.4
evalaute the role of surface layers on traction drive performance. Figures 4 to 6 show the shear stress distribution for
the condition of a uniform tangential displacement of 2.5 xim
but with a soft surface layer (E = 2 GPa) on one of the
cylinders. Surface layer thicknesses of 250 /xm, 25 ttm and 2.5
/xm are illustrated.
All curves show peak shear stresses at the edges of contact
and reasonably uniform shear stress in the center. For the
thicker layers this center shear stress should approach the
shearing of a soft layer of known thickness a known amount.
That is:
T
0.2
20
CO
\-
15
10
-I.0
I
I
I
!
- 0 . 8 -0.6 -0.4 -0.2
0.2
0.4
0.6
0.8
I.O
0.2
0.4
0.6
0.8
I.0"
0.2
0.4
0.6
0.8
1.0
Fig. 9 Shear stress distribution with 1 p in. CLA surface roughness (no
layer)
b = .25 mm (.01 in.)
Load: : 639 N/mm (3649 lb/in.)
F, = 105 N/mm (600 lb/in.)
R- 9.4 mm (.37 in.)
E = 200GPa(29Mpsi)
Pmax = 2 GPa (295 ksi)
= 1.9 pm (75 pin.)
-10
-OB - 0 6 -0.4 - 0 . 2
0.2
0.4
06
OB
10
0.2
0.4
0.6
Conclusions
Traction drive systems represent reasonable devices for
traversing slideways in precision machining. However, one
inherent problem with traction is that the traction interface
must incur sizable elastic "wind-up" before the driven
cylinder will move against a given load. For one specific case
analyzed the "wind-up" was on the order of 2 ^m for a 105
N/mm traction load. The amount of "wind-up" increased as
the driven cylinder moved.
In order to achieve precision control in a traction drive,
some type of compensation algorithm must be employed to
eliminate "wind-up" errors. It would be expected that a
compensation algorithm of the type presented herein could be
employed provided good reproducibility of the traction inJULY1986, Vol. 108/407
.Body 3
.4$2b*
,v
)
T(X)
Body 1
w
7
yE..
'
Body 2
References
1 Bryan, J. B., "Design and Construction of an Ultraprecision 84 Inch Diamond Turning Machine," Precision Engineering, Vol. 1, No. 1, 1979, pp.
13-17.
2 Barkman, W. E., "Machine and Tool Drive System," Precision Engineering, Vol. 2, No. 3, 1980, pp. 141-146.
3 Kalker, J. J., "Transient Rolling Contact Phenomena," Trans. ASLE,
Vol. 14, 1971, pp. 177-184.
4 Kalker, J. J., "Rolling With Slip and Spin in the Presence of Dry Friction," Wear, 9, 1966, pp. 20-38.
5 Cattaneo, C , "Sul Contatto di du Corpi Elastici: Destribuzione Locale
Degli Sfoizi," fiend. Acad. Lincei, Series 6, Vol. 27, 1938, pp. 342-348,
434-436, 474-478.
6 Carter, F. W., "On the Action of a Locomotive Driving Wheel," Proc.
Royal Soc, a 112, 1926, pp. 151-157.
7 Bentall, R. H., and Johnson, K. L., "Slip in the Rolling Contact of Two
Dissimilar Elastic Rollers," J. Mech. Eng. Sci., Vol. 9, 1967, pp. 389-404.
8 Barber, J. R., "The Rolling Contact of Misaligned Elastic Cylinders," / .
Mech. Eng. Sci., (I. Mech. E.), Vol. 22, No. 3, 1980, pp.. 125-128.
9 Poritsky, H., "Stress and Deflections of Cylindrical Bodies in Contact
With Application to Contact Gears and Locomotive Wheels," ASME Journal
of Applied Mechanics, 1950, pp. 191-201.
10 Krause, H., and Senuma, T., "Investigation of the Influence of Dynamic
Forces on the Tribological Behavior of Bodies in Rolling/Sliding Contact With
Particular Regard to Surface Corrugations," ASME JOURNAL OF LUBRICATION
TECHNOLOGY, Vol.
103,
1981.
APPENDIX
Development of Shear-Deflection Equations
Fourier Transform Equation. The objective of this
analysis is to develop a relationship between surface shear
stresses and tangential deflections in absence of applied
normal stresses at the boundary. The analyses are based on
elasticity theory using the Fourier transform approach given
by Sneddon and Gupta and Walowit. These equations are
given in the following form (see Fig. Al).
2
00
d^
=
dx2
d2V
dy2
d2V
dxdy
v=
u=
l-v2
2TTE
If
\
2 i r J -oo
co 2 Gexp(- f'cox)da>
d2G
exp(-/cox)a'co
dy2
2TT J
i:
(Al)
w
(co
exp(t - /cox)
aco
dy
2ir J ("
\
fd3G
(2-v)\
n3 (
[d2G
J-ooLcfy
\ l-v
v \
doi
.
2dG-\
) u exp( - /cox)
dy 1
, -1.
du
Fig. A1
oo
$ exp(,iwx)dx
at the surface,
1 p
d2*
dG
= -I
1
/'co
exp( iu>x)du
dxdy
2irJ-=
dy
,dG
If
is an odd function, Sneddon shows that:
dy
1 f d G
J
co
cos wx aco
Based on Fourier Transform dy
theory;
IT
(A2)
(A6)
(A7)
JO
dG
oo
(A8)
cos OJX dx
dy
at the surface v = 0 r = - r 0 . Letting T0 be defined over the
interval Ax and letting T0 = 1 /Ax then lim we have
dG
co = 1
(A9)
dy
Letting s = hu, G = G/h2, r\ - y/h, the first boundary
condition becomes
dG
(A10)
57- = 1 for n = 0
d{ of no normal stress on the surface
Also for the case
G=0
2TTE
(A3)
(All)
(A12)
I;
where
d2G
~~chf
-2(5, -D{)s
(A14)
1_2
u u, =
rfHL"2(5'
-D,)s
(A16)
<= Z / (Cij-C0J)TjAX
efe-2j31nf]
(A15)
DISCUSSION
S. H. Loewenthal1 and D. A. Rohn1
The authors deserve much credit for extending the well
known tangentially strained, rolling element contact problem
to include the effects of a soft layer. This study is particularly
timely since the use of simple, zero backlash, low torque ripple, traction drive positioning mechanisms is currently receiving greater scrutiny [14].
The initial impetus for this line of investigation stems from
the classic, 1927 Carter study [6] of a locomotive wheel in driving contact against a rail. The present work is a welcome
departure from Carter's and subsequent analyses which are
restricted to homogeneous, isotropic bodies in driving contact.
The layered cylinder solution not only has relevance to the
numerous paper and tape handling machines which generally
employ elastomer coated, pinch roller drive mechanisms, but
moreover has implications for high precision actuators for
spacecraft. Examples include a wide class of pointing and
tracking mechanisms such as optical and antenna positioners,
robotic hinges and pivots as well as control moment gyro gimbal drives. Here the introduction of a self-lubricating
polymeric, organic, or soft metal film coating is particularly
advantageous to avoid the difficulties of liquid lubrication in
space. However, the detrimental effects of such coatings on
open loop positional accuracy needs to be addressed.
In the authors' investigation, the "start-up" problem that is
the transition from a stationary, unloaded roller contact to a
tangentially loaded rolling one, appears to be handled in two
parts, judging from the discussion of Fig. 3. First the static
contact is strained to the desired traction level and then the
rollers are allowed to rotate under constant traction, that is
fresh roller material is allowed to "flow" through the contact
under a strain field that is invariant with time. In practice, a
two mode start-up would not occur since torque buildup and
rolling would occur simultaneously as the shaft and components downstream of the driver roller experienced torsional
"windup." In this latter case, "fresh" or unstrained material
Additional References
'Deputy Branch Manager and Senior Research Engineer, respectively, Advanced Concepts and Application Branch, NASA Lewis Research Center,
Cleveland, Ohio.
Journal of Tribology