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Abstract: A new roller seismic isolation bearing is developed for use in highway bridges. This new bearing uses rolling of cylindrical
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rollers on V-shaped sloping surfaces to achieve seismic isolation. The bearing is characterized by a constant spectral acceleration under
horizontal ground motions and by a self-centering capability, which are two desirable properties for seismic applications. The former
makes resonance less likely to occur between the bearing and horizontal earthquakes, while the latter guarantees that the bridge super-
structure can self-center to its original position after earthquakes. To provide supplemental energy dissipation to reduce the seismic
responses, the bearing is designed with a built-in sliding friction mechanism. This paper presents the seismic behavior of the bearing
through analytical and experimental studies. First, the acceleration responses of and forces acting on the bearing under base excitation are
presented. Next, the governing equation of horizontal motion, the base shear-horizontal displacement relationship, and conditions for
self-centering, for the rollers to maintain contact with the bearing plates, and for rolling without sliding are discussed. An experimental
study on a prototype bearing was carried out to verify and calibrate its characteristics and the results are discussed.
DOI: 10.1061/共ASCE兲ST.1943-541X.0000136
CE Database subject headings: Seismic effects; Bridges, highway; Load bearing capacity; Isolation; Energy dissipation; Friction.
Author keywords: Seismic effects; Bridges; Bearings; Isolation; Energy dissipation; Friction.
rollers will roll between the bearing plates and sliding friction and 共5兲 the upper plate is attached to a superstructure that is
forces will be generated at the friction interfaces due to relative restrained from rotation. Conditions to maintain the first two as-
movements between the side walls and the upper and lower bear- sumptions and the applicability of the third assumption are ana-
ing plates. lytically and experimentally investigated in later sections,
Tsai et al. 共2007兲 carried out a shake table study on an earlier respectively.
version of such a bearing, which does not have integrated sliding Fig. 2 shows the free-body diagram of the two plates and one
friction mechanisms. The bearing showed a bilinear elastic hys- roller assembly when the roller is on the left-hand side of the
teretic behavior with an approximate zero postelastic stiffness. An lower bearing plate. Note that the sloping angle is exaggerated in
equation was proposed to predict the maximum base shear of the the figure for ease of presentation. A horizontal acceleration ex-
bearing. However, the interaction between the superstructure and citation ẍ3 and a vertical acceleration excitation z̈3 are imposed to
the roller was not considered in the derivation of the equation. the base of the assembly. For the superstructure, the dynamic
This paper first presents the theoretical background of the pro- equilibrium along the horizontal direction gives
posed roller bearing under base excitation. The acceleration re-
sponses of and forces acting on the bearing are derived based on m1共ẍ1 + ẍ3兲 + f 1 + f Ds cos sgn共ẋ1兲 = 0 共1兲
dynamic equilibrium, in which both the interaction between the
superstructure and the roller and that between the roller and the where m1 = tributary mass carried by the assembly; ẍ1
base are considered. Next, the governing equation of horizontal = horizontal acceleration response of the superstructure relative to
motion, the base shear-horizontal displacement relationship, and the origin O; f 1 = static friction force between the roller and the
the conditions for self-centering, for the rollers to maintain con- upper bearing plate; f Ds = sliding friction force produced by the
tact with the bearing plates, and for rolling without sliding are corresponding pair of friction interfaces; = sloping angle; and
discussed. Finally, an experimental study on a prototype bearing sgn= function equal to 1, 0, and ⫺1 if the variable is greater than,
is presented to verify and calibrate the characteristics of the bear- equal to, and less than zero, respectively.
ing. For the vertical direction, we have
f2
N2 f Ds sgn x1
Z f2 displacement
z3
O X x3 Rigid base
冢 冣
plate; and g = acceleration of gravity. The equation of dynamic m1 0 0 0 0 1 0 0 0
equilibrium for the roller along the horizontal direction is
0 m1 0 0 0 0 0 −1 0
m2共ẍ2 + ẍ3兲 − f 1 + f 2 cos − N2 sin = 0 共3兲 0 0 m2 0 0 − 1 cos 0 − sin
where m2 and ẍ2 = mass and horizontal acceleration response of 0 0 0 m2 0 0 sin − 1 cos
the roller relative to O, respectively and f 2 and N2 = static friction 0 0 0 0 I −R −R 0 0
force and normal force between the roller and the lower bearing
0 0 1 0 − R cos 0 0 0 0
plate, respectively. For the vertical direction, we have
0 0 0 1 − R sin 0 0 0 0
m2共z̈2 − z̈3兲 − N1 + f 2 sin + N2 cos − m2g = 0 共4兲
1 0 −1 0 −R 0 0 0 0
where z̈2 = vertical acceleration response of the roller relative to 0 1 0 1 0 0 0 0 0
冢冣冢 冣
O. The rotational dynamic equilibrium of the roller gives
ẍ1 − m1ẍ3 − f Ds cos sgn共ẋ1兲
I 2␣ − f 1R − f 2R = 0 共5兲
z̈1 − m1共g + z̈3兲 + f Ds sin sgn共ẋ1兲
where ␣, I2, and R are the angular acceleration, moment of iner- ẍ2 − m2ẍ3
tia, and radius of the roller, respectively. If the roller is in a pure
rolling motion, compatibility requirements lead to z̈2 m2共g + z̈3兲
⫻ ␣ = 0
ẍ2 = R cos ⫻ ␣ 共6兲
f1 0
z̈2 = R sin ⫻ ␣ 共7兲 f2 0
N1 0
ẍ1 = ẍ2 + R␣ 共8兲 N2 0
2R2 cos2 兵f Ds sgn共ẋ1兲 + m1ẍ3 + 关f Ds sgn共ẋ1兲 + 共m1 + m2兲ẍ3兴cos − 共z̈3 + g兲共m1 + m2兲sin 其
2
ẍ1 =
I + 共2m1 + m2兲R2 + 2m1R2 cos
⎜ 再再 冎⎟ 再 冎
2 2
冢冣
1 1
ẍ1 cos − 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴 + tan 共z̈3 + g兲 z̈2 = − sin 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴 + tan 共z̈3 + g兲sgn共x1兲
冎
2 2 2 2
z̈1
1 共13兲
⎜ 再再 冎 ⎟
ẍ2 sin − 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴 + tan 共z̈3 + g兲
再 冎
2 2
z̈2
1 1
␣ ⬇ − 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴 + tan 共z̈3 + g兲 ␣=− 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴 + tan 共z̈3 + g兲sgn共x1兲
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冎
2R 2 2R 2
f1
⎜再 冎⎟
1 共14兲
f2 − m1 sin2 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴 + sin 共z̈3 + g兲
再
2 2
N1
1
N2 m1 sin2 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴 + sin 共z̈3 + g兲 f 1 = − f 2 = m1 − sin2 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴
再 冎
2
冎
2 2
⎝再 冎⎠
1 1
m1 sin 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴 + cos2 共z̈3 + g兲 + sin 共z̈3 + g兲sgn共x1兲 共15兲
2 2 2
再
1
m1 sin 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴 + cos2 共z̈3 + g兲
2 2 1
N1 = N2 = m1 − sin 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴sgn共x1兲
2
冎
When the roller is on the right-hand side of the center of the lower
bearing plate, the free-body diagram is shown in Fig. 3.
The matrix form for the equations of dynamic equilibrium is + cos2 共z̈3 + g兲 共16兲
2
冢 冣
m1 0 0 0 0 1 0 0 0
0 m1 0 0 0 0 0 −1 0 Governing Equation of Horizontal Motion
0 0 m2 0 0 − 1 cos 0 sin
0 0 0 − m2 0 0 − sin − 1 cos Eq. 共10兲 is of great interest since it represents the governing equa-
tion of horizontal motion of the bearing 共superstructure of the
0 0 0 0 I −R −R 0 0
bridge兲. In our applications, sloping angle is limited to 11° to
0 0 1 0 − R cos 0 0 0 0 ensure rolling without sliding of the rollers, which will be further
0 0 0 1 − R sin 0 0 0 0 discussed later. Thus, cos2 / 2 ⬇ 1. Simplifying and rearranging
1 0 −1 0 −R 0 0 0 0 Eq. 共10兲 and multiplying both sides of the equation by m1 lead to
0 1 0 −1 0 0 0 0 0 1
冢冣冢 冣
m1ẍ1 + m1 sin 共z̈3 + g兲sgn共x1兲 + f Ds sgn共ẋ1兲 = − mẍ3 共17兲
ẍ1 − m1ẍ3 − f Ds cos sgn共ẋ1兲 2
z̈1 − m1共g + z̈3兲 − f Ds sin sgn共ẋ1兲 The second term of Eq. 共17兲 represents the restoring force f S of
ẍ2 − m2ẍ3 the bearing. The equation can also be expressed as
z̈2 m2共g + z̈3兲
m1ẍ1 + f S sgn共x1兲 + f Ds sgn共ẋ1兲 = − m1ẍ3 共18兲
⫻ ␣ = 0
where
f1 0
f2 0 1
f S = m1共z̈3 + g兲sin 共19兲
N1 0 2
N2 0 Based on Eq. 共18兲, it can be seen that the maximum base shear V p
Complete solutions that include both conditions when the roller is along the principal direction of the bearing is
on the left- and right-hand sides of the lower bearing plate are
2x
1
ẍ1 = − cos2 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴 − sin 共z̈3 + g兲sgn共x1兲
2 2
共10兲 x
1
z̈1 = − sin 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴sgn共x1兲 − sin2 共z̈3 + g兲
2 2 Fig. 5. Relationship between displacements of the roller and the
共11兲 superstructure
再
of resonance between the bearing and base excitation. In contrast,
the two common types of seismic isolation bearings previously 1
N1 = N2 = m1 − sin 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴sgn共x1兲
mentioned are typically designed to have a certain amount of 2
postelastic stiffness to ensure low permanent displacements after
an earthquake. In such a case, the maximum base shear is depen-
dent on the magnitude and frequency content of the base excita-
+ cos2 共z̈3 + g兲 ⬎ 0
2
冎 共25兲
tion.
When is small, the first term of the equation likely becomes
If both the upper and lower rollers of the bearing are mobi-
small compared to the second term and cos2 / 2 ⬇ 1. Thus, Eq.
lized, the resultant base shear will be 冑2 times the base shear 共25兲 may be simplified and rearranged to Eq. 共26兲, which shows
along the principal directions, that is that if the magnitude of the downward vertical base acceleration
is smaller than g, the rollers will maintain contact with the bear-
Vmax = 冑2f S + 冑2f Ds = 冑2V p 共21兲 ing plates
This force should be considered in the design of the bridge sub- z̈3 ⬎ − g 共26兲
structure on which the bearing is seated. Fig. 4 schematically
illustrates the base shear-horizontal displacement relationship of During an earthquake, the magnitude of the vertical acceleration
the bearing along the principal directions. of the bearing depends on the magnitude of the vertical compo-
Note that for a pure rolling motion, the relative displacement nent of the earthquake and the overturning moments of the super-
of the superstructure x1 is twice that of the roller x2 as shown in structure. If Eq. 共26兲 is not satisfied, separation between the
Fig. 5, that is rollers and the bearing plates will occur. As a result, misalignment
between the rollers and the bearing plates may happen, causing a
2x2 = x1 共22兲 permanent displacement when the motion of the bearing stops.
0.4
force f S needs to be larger than the sliding friction force f Ds.
AASHTO 共2000兲 requires that the restoring force be greater than 0.2
or equal to 1.05 times the characteristic strength of the bearing. 0
This means
-0.2
再 冎
冨 冎冨
1 torques to each screw 共screws A兲 for applying normal forces to
m1 − sin2 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴 + sin 共z̈3 + g兲sgn共x1兲 the friction interfaces T: 0, 2.3, 3.6, and 4.5 kN mm; and 共3兲
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再
2 2
s ⱖ angles between the rolling direction of the upper roller and the
1 direction of the applied lateral displacements r 共see Fig. 8兲: 0°
m1 − sin 关ẍ3 + f Ds/m1 sgn共ẋ1兲兴sgn共x1兲 + cos2 共z̈3 + g兲
2 2 共only the upper roller was mobilized兲 and 45° 共both the rollers
Further simplification leads to were mobilized兲. According to Oberg et al. 共2000兲, the torque of
each screw T has a linear relationship with the resulting normal
force to the friction interface by that screw Nb as
s ⱖ tan 共28兲
2
In a similar manner, substituting N2 and f 2 from Eqs. 共16兲 and T = Nb共0.159t + 0.531td兲 共32兲
共15兲 into Eq. 共27兲, respectively, also leads to Eq. 共28兲. Thus, the
sloping angle has to satisfy where t and d = pitch 共1.5 mm兲 and diameter 共12 mm兲 of the
screw, respectively, and t = coefficient of friction between the
ⱕ 2 tan−1 s 共29兲 threads. The value of t to be used in Eq. 共32兲 will be calibrated
by the test data presented later.
This equation shows that the upper limit of the sloping angle for
The test setup is shown in Fig. 9. Two vertical actuators were
rolling without sliding increases as the coefficient of static friction
used to apply a constant vertical load of 200 kN to the bearing.
s increases. s for steel on steel range from 0.74 for dry condi-
One horizontal actuator was used to apply displacement-
tions to approximately 0.1 for greasy conditions 共Avallone and
controlled lateral cyclic sinusoidal loading to the bearing with a
Baumeister 1996兲. For a conservative result, s is taken as 0.1.
peak velocity of 25.4 mm/s.
The condition for rolling without sliding is
30 30
=8°
20 20
=8°
10 10
=5°
=5°
0 0
-10 -10
-20 -20
-30 -30
-40 -20 0 20 40 -40 -20 0 20 40
Displacement (mm) Displacement (mm)
(a) r =0° (b) r =45°
Fig. 10. Base shear versus lateral displacement for bearings without supplemental energy dissipation
Table 1. Tests of Bearings without Supplemental Energy Dissipation and Table 2. Tests of Bearings without Supplemental Energy Dissipation and
with r = 0° with r = 45°
Tests Analytical Tests Analytical
Test case f S 共kN兲 f Dr 共kN兲 f S 共kN兲 f Dr 共kN兲 Test case 冑2f S 共kN兲 冑2f Dr 共kN兲 冑2f S 共kN兲 冑2f Dr 共kN兲
r = 0 ° , = 5° 8.5 0.3 8.7 0.4 r = 45° , = 5° 12.5 0.4 12.3 0.6
r = 0 ° , = 8° 13.8 0.4 13.9 0.4 r = 45° , = 8° 19.6 0.6 19.7 0.6
Fig. 11. Base shear versus lateral displacement for bearings with supplemental energy dissipation
Acknowledgments
0.18 and 0.2. Table 4 lists the test results with a r of 45°. The
results were compared to 冑2 the values obtained from tests with a
The writers gratefully acknowledge the Federal Highway Admin-
istration 共FHWA兲 for funding the study reported herein 共FHWA
r of 0°. Both the results agree reasonably well.
094 Project No. DTFH61-98-C00094兲. The writers wish to ex-
press their sincere appreciation to Philip Yen and James Cooper
from FHWA for their support, advice, and encouragement and to
Conclusions Andrew Whittaker and Michael Constantinou from the University
at Buffalo for their valuable comments in the development of the
Through analytical and experimental studies, the characteristics bearing. In addition, the writers would like to thank Christopher
of a new roller seismic isolation bearing are presented. A number Budden and Mark Pitman at the Structural Engineering and Earth-
of important conclusions are summarized as follows: quake Simulation Laboratory of the University at Buffalo for their
1. The bearing exhibits a maximum base shear independent of help in the experimental study.
the amplitude and frequency content of horizontal ground
motions and has a self-centering capability after earthquakes.
2. The maximum base shear occurs when both the upper and
lower rollers are mobilized. The magnitude of the force is the
result of the maximum base shears along the principal direc- References
tions of the bearing.
3. For the rollers to maintain contact with the bearing plates, the AASHTO. 共2000兲. Guide specifications for seismic isolation design,
absolute value of the downward acceleration should not ex- AASHTO, Washington, D.C.
AASHTO. 共2004兲. AASHTO LRFD bridge design specifications, 3rd Ed.,
ceed approximately one acceleration of gravity.
AASHTO, Washington, D.C.
4. To prevent sliding of the rollers, the sloping angle of the
Avallone, E. A., and Baumeister, T., III. 共1996兲. Marks’ standard hand-
bearing needs to be smaller than a certain value depending book for mechanical engineers, 10th Ed., McGraw-Hill, London.
on the coefficient of static friction between the roller and the Buckle, I., Constantinou, M., Dicleli, M., and Ghasemi, H. 共2006兲. “Seis-
sloping surface. For steel rollers and steel bearing plates, the mic isolation of highway bridges.” Rep. No. MCEER-06-SP07, Mul-
upper limit of the sloping angle can be conservatively chosen tidisciplinary Center for Earthquake Engineering Research, Univ. at
as 11°. Buffalo, State Univ. of New York, Buffalo, N.Y.