Joint Friction

In case of the cylindrical joint, there is one friction type.

Sliding and Stiction Type Friction

A friction force which contains a sliding and stiction algorithm can be defined on the cylindrical joint. Include Friction option in Joint property page must be checked to use the friction force.

Figure 1 Configuration of Sliding and Stiction Friction Force on Cylindrical Joint

Figure 2 Cylindrical Joint Friction dialog box

The frictional force and torque are calculated according to the following equations:

where,

Figure 3 Detail of Overlap Mode and Delta

Where, the inputs into the equation are defined in the following table:

Current Friction Coefficient		The coefficient of friction calculated during the simulation is a function of the relative velocity between body surfaces.
Static Friction Coefficient		The coefficient of friction is zero at a zero velocity, but it smoothly transitions to the static coefficient of friction at Absolute Threshold Velocity ().
Effect		Checks Stiction or Sliding. For more information, click here.
PreForce		A constant frictional force that acts during the entire simulation.
PreTorque		A constant frictional torque that acts during the entire simulation.
Pin Radius		The radius of the smaller surface geometry in the revolute joint.
Reaction Force		The force in the joint calculated during the simulation in the direction along the rotational axis.
Bending Moment		The calculated torque that acts at right angles to the rotational axis.
Overlap Delta		A distance that starts at a nominal value and increases according to the translation of the action body with respect to the base body.
Overlap Mode		Selects Constant, Increase, or Decrease.
Maximum Friction Force		Collisions during contact as well as transitions during sliding forces can result in force spikes. High frictional forces can result from these spikes. This option allows a maximum friction force to be defined that should correspond to the maximum expected steady-state force.
Maximum Friction Torque		Collisions during contact as well as transitions during sliding forces can result in force spikes. High frictional torques can result from these spikes. This option allows a maximum friction torque to be defined that should correspond to the maximum expected steady-state force.