Dynamic characterization of hysteresis elements in mechanical systems. II. Experimental validation.

The industrial demand for machine tools with ever increasing speed and accuracy calls for a closer look at the physical phenomena that are present at small movements of those machine's slides. One of these phenomena, and probably the most dominant one, is the dependence of the friction force on displacement that can be described by a rate-independent hysteresis function with nonlocal memory. The influence of this highly nonlinear effect on the dynamics of the system has been theoretically analyzed in Part I of this paper. This part (II) aims at verifying these theoretical results on three experimental setups. Two setups, consisting of linearly driven rolling element guideways, have been built to specifically study the hysteretic friction behavior. The experiments performed on these specially designed setups are then repeated on one axis of an industrial pick-and-place device, driven by a linear motor and guided by commercial guideways. The results of the experiments on all the setups agree qualitatively well with the theoretically predicted ones and point to the inherent difficulty of accurate quantitative identification of the hysteretic behavior. They further show that the hysteretic friction behavior has a direct bearing on the dynamics of machine tools and its presence should therefore be carefully considered in the dynamic identification process of these systems.