Development of a new tactile sensor by using a frequency characteristics of sliding friction having a vertical vibration

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We had been conducting a study on the effect of vertical vibration of a sliding pin on the friction coefficient and fund that the frequency characteristics of friction were successfully determined by the numerical analysis of the dynamics of a sliding system. And the vertical vibration reduces the contacting load during sliding, which results in reducing the coefficient of friction. These numerical simulations showed that the frequency characteristics of friction contains mechanical properties of materials as well as tribological characteristics of materials. This means that the frequency characteristics is a useful measure for tactile sensing systems. Double layered Kohonen neural network filter was applied to the frequency characteristics of friction and the validity of using the vibrating sliding sensor system for selecting materials is verified. In the process of these study, chaotic vibration was observed in both experimental and numerical analysis. The chaotic vibration showed a crucial effect on reducing the sliding friction.