... response into the otherwise often-linear structural model. Recent studies have successfully captured and simulated mechanical joint dynamics using computationally simple phenomenological models of combined elasticity and slip with associated friction and energy dissipation, known as Iwan models...

... friction law governed by a relationship that is cubic in the slip velocity, and an exponentially-based friction law that steadily decreases with slip velocity. Although in both cases the friction force has an initial negative slope versus relative velocity, their stability characteristics are quite...

... for varying loading scenarios. Simple trigonometric functions are introduced to capture the effects of pulley deformation on the thrust ratio and slip behavior of the CVT. Moreover, since a number of models mentioned in the literature neglect the inertial coupling between the belt and the pulley...