Vibrational self-alignment of a rigid object exploiting friction

B.G.B. Hunnekens, R.H.B. Fey, A. Shukla, H. Nijmeijer

Research output: Contribution to journalArticleAcademicpeer-review

4 Citations (Scopus)
128 Downloads (Pure)


In this paper, one-dimensional self-alignment of a rigid object via stick-slip vibrations is studied. The object is situated on a table, which has a prescribed periodic motion. Friction is exploited as the mechanism to move the object in a desired direction and to stop and self-align the mass at a desired end position with the smallest possible positioning error. In the modeling and analysis of the system, theory of discontinuous dynamical systems is used. Analytic solutions can be derived for a model based on Coulomb friction and an intuitively chosen table acceleration profile, which allows for a classification of different possible types of motion. Local stability and convergence is proven for the solutions of the system, if a constant Coulomb friction coefficient is used. Next, near the desired end position, the Coulomb friction coefficient is increased (e.g. by changing the roughness of the table surface) in order to stop the object. In the transition region from low frictionto high friction coe cient, it is shown that, under certain conditions, accumulation of the object to a unique end position occurs. This behavior can be studied analytically and a mapping is given for subsequent stick positions.
Original languageEnglish
Pages (from-to)109-129
Number of pages21
JournalNonlinear Dynamics
Issue number1-2
Publication statusPublished - 2011


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