Deformable fingertip with a friction reduction system based on lubricating effect for smooth operation under both dry and wet conditions
Deformable fingertip with a friction reduction system based on lubricating effect for smooth operation under both dry and wet conditions
复制标题
可变形指尖，具有基于润滑作用的减摩系统，可在干湿条件下平稳操作
DOI：
10.1080/01691864.2019.1608299
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发表时间：
2019
影响因子：
2
通讯作者：
Watanabe Tetsuyou
中科院分区：
文献类型：
--
作者：
Mizushima Kaori;Suzuki Yosuke;Tsuji Tokuo;Watanabe Tetsuyou
对于稳定的机器人抓取，需要具有高摩擦力的表面；因此，柔软的表面更可取。相比之下，将手指插入狭窄空间或将抓取的物体放在桌子上时，光滑的表面更可取。此外，在涉及人类的环境中，这种手术是在干燥和潮湿的条件下进行的。因此，本研究旨在开发一种具有摩擦控制系统的软机器人指尖，在干湿条件下，表面摩擦是主动可控的，而外界对摩擦的影响，如湿度，被最小化。基本概念包括通过使用缝隙表面纹理在这两种情况下实现高摩擦，而通过利用毛细作用的润滑系统来减少摩擦。实验验证表明，所提出的嵌入到机器人手指表面的润滑系统在两种情况下都成功地减少了摩擦。释放和抓取操作显示了所提出的系统在实际情况下的有效性。此外，通过引入扩散系数，确定了该润滑方法的机理。
For stable robotic grasping, a surface with high friction is required; thus, a soft surface is preferable. In contrast, a slippery surface is preferable for inserting fingers into a narrow space or placing a grasped object on a table. Additionally, in an environment involving humans, such operations are performed under dry and wet conditions. Hence, this study aims at developing a soft robotic fingertip with a friction control system in which the surface friction is actively controllable under dry and wet conditions, whereas the external effects on friction, such as wetness, are minimized. The basic concept involves achieving high friction under both conditions by using a slit surface texture, while friction is reduced with a lubricating system by utilizing capillary action. The experimental validation shows that the proposed lubricating system embedded in a robotic finger surface successfully reduces friction under both conditions. The releasing and grasping operations reveal the efficacy of the proposed system in an actual situation. Additionally, the mechanism of the lubricating method is confirmed by introducing the spreading coefficient.