Experimental investigation of effect of fingertip stiffness on friction while grasping an object
Experimental investigation of effect of fingertip stiffness on friction while grasping an object
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抓取物体时指尖刚度对摩擦力影响的实验研究
DOI：
10.1109/icra.2014.6906959
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发表时间：
2014
期刊：
影响因子：
--
通讯作者：
Yoshinori Fujihira
中科院分区：
文献类型：
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作者：
Tetsuyou Watanabe;Yoshinori Fujihira
在这项研究中，我们实验研究了机器人指尖刚度的摩擦力抓持物体的过程中的效果。为了使机器人更加人性化，人们开发了具有柔软表面的机器人手。柔软的指尖，即，具有低刚度的材料被认为是理想的，因为它产生高摩擦。然而，在我们的实验中，我们能够在一定条件下从僵硬的指尖获得高摩擦力。我们初步研究了不同刚度的球形指尖抓取不同角度表面的固体物体时的最大抓取力。当接触面平坦时，指尖越硬，产生的摩擦力越大。当接触表面高度凸起时，最大摩擦力随着指尖刚度的减小而增大。其次，我们研究了接触面积、载荷和最大摩擦力之间的关系。我们重新表述了载荷和最大摩擦力之间的关系，并结合我们的实验结果，使用它来确定增加最大摩擦力的因素。
In this study, we experimentally investigated the effect of robot fingertip stiffness on friction during grasping of an object. To make robots more human-friendly, robotic hands with soft surfaces have been developed. A soft fingertip, i.e., one with low stiffness, is considered desirable because it produces high friction. However, in our experiments, we were able to obtain high friction from a stiff fingertip under a certain condition. We initially investigated the maximum resistible force when solid objects with different angled surfaces were grasped by spherical fingertips of different stiffness. When the contact surface was flat, a stiffer fingertip produced larger frictional force. When the contact surface was highly convex, the maximum frictional force increased with decreasing fingertip stiffness. Secondly, we examined the relationships among the contact area, the load, and the maximum frictional force. We reformulated the relationship between the load and the maximum frictional force and, together with our experimental results, used it to determine the factor that increased the maximum frictional force.