PRECISE MODELING OF ROLLING FRICTION IN BALL SCREW-DRIVEN TABLE POSITIONING SYSTEM

This paper presents a precise modeling methodology for fast-response andhighprecision positioning systems, where a ball screw-driven table positioning device is mathematically identified as a combination of a linear mechanical model with vibration modes and a nonlinear model with friction characteristics. In the nonlinear friction modeling, a nonlinear elastic behavior in the mechanisms, e.g. ball screw and rolling ball guide, is precisely modeled as a dynamic friction characteristic due to the rolling friction, as well as a well-known static friction modeling by Stiction, Coulomb, and viscous frictions. The proposed system modeling has been verified by comparative studies using a prototype for industrial positioning devices, especially paying attention to the precise simulation of positioning response around the settling position.