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Static and Kinetic Frictional Force

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Related Experiment Video

Updated: May 24, 2026

Finite Element Modeling for the Simulation of the Quasi-Static Compression of Corrugated Tapered Tubes

Finite Element Modeling for the Simulation of the Quasi-Static Compression of Corrugated Tapered Tubes

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Friction Modeling in Concentric Tube Robots.

Jesse Lock¹, Pierre E Dupont

¹Biomedical Engineering, Boston University, Boston, MA 02215 USA ( lockj@bu.edu ).

IEEE International Conference on Robotics and Automation : ICRA : [Proceedings]. IEEE International Conference on Robotics and Automation

|February 24, 2012

Summary

Friction in concentric tube robots, a type of continuum robot, was investigated. Concentrated moments at tube bends, not distributed forces, explain directional twisting observed in experiments.

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Last Updated: May 24, 2026

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Area of Science:

Robotics
Mechanical Engineering
Materials Science

Background:

Concentric tube robots (CTRs) are a novel class of continuum robots.
Existing frictionless models for CTRs do not predict observed directional dependence of tube rotation on robot shape.
This discrepancy suggests unmodeled frictional effects.

Purpose of the Study:

To investigate the sources of friction in concentric tube robots.
To develop a model that explains the directional dependence of tube rotation.
To differentiate the contributions of distributed contact forces and concentrated bending moments to friction.

Main Methods:

Modeling friction from distributed contact forces between tubes.
Modeling friction from concentrated bending moments at tube discontinuities.
Comparing model predictions with experimental data on CTR behavior.

Main Results:

Friction due to distributed forces alone does not account for the observed directional twisting.
A simple model of frictional torque from concentrated moments accurately predicts experimental observations.
Concentrated bending moments are the primary source of directional friction in CTRs.

Conclusions:

Friction arising from concentrated bending moments is critical for accurate modeling of concentric tube robot behavior.
The developed friction model explains the previously unexplained directional dependence of tube rotation.
This work advances the understanding and control of continuum robots by incorporating essential frictional effects.