Three-dimensional modeling and simulation of the sliding motion of a soft fingertip with friction, focusing on stick-slip transition
Three-dimensional modeling and simulation of the sliding motion of a soft fingertip with friction, focusing on stick-slip transition
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DOI：
10.1109/icra.2011.5979901
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发表时间：
2011-05
期刊：
影响因子：
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通讯作者：
V. A. Ho;S. Hirai
中科院分区：
文献类型：
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作者：
V. A. Ho;S. Hirai
提出了一个三维柔性指尖在有摩擦的平面上滑动的动力学模型。指尖实际上是由有限数量的弹性、可压缩和可弯曲的杠杆组成的，杠杆的自由端充当无穷小的接触点。然后根据接触点的坐标，采用有限元法对接触面进行网格划分。通过引入库仑定律和接触柔度到每个接触点，我们能够评估指尖滑动运动过程中的摩擦特性。我们还成功地描述了动态局部位移的接触表面上的粘滑过渡，这发生在半球形软指尖。此外，与商业软件相比，每次模拟试验的实施时间非常短，有望在实时应用中使用该模型。此外，我们还进行了实验以验证拟议的模拟，包括力/力矩和视觉设置。
We have proposed a dynamic model to investigate the sliding motion of a 3-dimensional soft fingertip on a plane with friction. The fingertip is comprised virtually of a finite number of elastic compressible and bendable cantilevers whose free ends act as infinitesimal contact points. The contact surface is afterward meshed using finite element method based on coordinates of contact points. By introducing Coulomb's law and contact compliance into each contact point, we are able to assess the frictional characteristic during sliding motions of the fingertip. We also successfully described dynamically localized displacements on the contact surface during stick-slip transition, which occurs substantially on hemispherical soft fingertip. Moreover, each simulation trial was implemented in a very small amount of time comparing to commercial softwares, promising use of this model in realtime application In addition, we conducted experiments to valid proposed simulation, including force/moment and vision setups.