A dry friction model and robust computational algorithm for reversible or irreversible motion transmissions

The motion transmission elements are generally affected by dry friction which may give rise to reversible or irreversible behaviour of the whole system. So, the potential high effect of the dry friction on the dynamic behaviour of the mechanical system requires proper simulation models characterised by high computational accuracy, nevertheless compactness and efficiency. Aims of the work are: - the proposal of a general purpose physical and mathematical dry friction dynamic model and, consequently, the detailed description of two related numerical algorithms, developed in different computational environments (low level language and Matlab-Simulink), able to simulate the behaviour of a general dynamic system affected by dry friction and equipped or not with ends of travel; - the simulation of some representative actuation runs in order to validate the proper accuracy of the mechanical device computational algorithm and the analysis of the results.