A load-dependent transmission friction model: theory and experiments

Mechanical transmission dynamics are a major source of motion disturbances and prospective instability in feedback. To overcome this problem, feed-forward compensation is often added to the control algorithm requiring an accurate friction model. A load-dependent friction model based on a wedge-like planar transmission is presented. The effects of load dependence, backlash, and tooth preload can be incorporated into the model. Derivation of the model is presented together with the results of experiments performed on a worn gear drive and a discussion of how the data fits the model