Sensing characteristics of an optical three-axis tactile sensor under combined loading

Robotica ◽  
2004 ◽  
Vol 22 (2) ◽  
pp. 213-221 ◽  
Author(s):  
Masahiro Ohka ◽  
Yasunaga Mitsuya ◽  
Yasuaki Matsunaga ◽  
Shuichi Takeuchi
Keyword(s):  
Normal Force ◽  
Tangential Force ◽  
Testing Machine ◽  
Tactile Sensor ◽  
Combined Loading ◽  
Vertical Force ◽  
Load Testing ◽  
Brass Plate ◽  
The Coefficient Of Friction ◽  
Sensing Characteristics

This paper describes precision enhancement of an optical three-axis tactile sensor capable of detecting both normal force and tangential force. The sensor's single cell consists of a columnar feeler and 2-by-2 conical feelers. We have derived equations to precisely estimate the three-axis force from the area-sum and area-difference of the conical feelers' contact areas by taking into account wrench-length shrinkage caused by a vertical force. To evaluate the equations and determine constants included in the equations, we performed a series of calibration experiments using a manipulator-mounted tactile sensor and a combined load-testing machine. Subsequently. to evaluate the tactile sensor's practicality. it was mounted on the end of a robotic manipulator which rubbed flat specimens such as brass plates with step-heights of δ=0.05, 0.1, 0.2 mm and a brass plate with no step-height. We showed from the experimental data that the optical three-axis tactile sensor can detect not only the step-heights but also the distribution of the coefficient of friction, and that the sensor can detect fine plate inclination with accuracy to about ±0.4°.

scholarly journals A Technique to Determine Friction at the Fingertips

2008 ◽  
Vol 24 (1) ◽  
pp. 43-50 ◽  
Author(s):  
Adriana V. Savescu ◽  
Mark L. Latash ◽  
Vladimir M. Zatsiorsky
Keyword(s):  
Coefficient Of Friction ◽  
Normal Force ◽  
Tangential Force ◽  
Vertical Direction ◽  
Force Sensor ◽  
Displacement Method ◽  
Significant Difference ◽  
The Coefficient Of Friction ◽  
Slip Method ◽  
Slip Force

This article proposes a technique to calculate the coefficient of friction for the fingertip– object interface. Twelve subjects (6 males and 6 females) participated in two experiments. During the first experiment (the imposed displacement method), a 3-D force sensor was moved horizontally while the subjects applied a specified normal force (4 N, 8 N, 12 N) on the surface of a sensor covered with different materials (sandpaper, cotton, rayon, polyester, and silk).Thenormal forceand thetangential force(i.e., the force due to the sensor motion) were recorded. Thecoefficient of friction(µd) was calculated as the ratio between the tangential force and the normal force. In the second experiment (the beginning slip method), a small instrumented object was gripped between the index finger and the thumb, held stationary in the air, and then allowed to drop. The weight (200 g, 500 g, and 1,000 g) and the surface (sandpaper, cotton, rayon, polyester, and silk) in contact with the digits varied across trials. The same sensor as in the first experiment was used to record thenormal force(in a horizontal direction) and thetangential force(in the vertical direction). Theslip force(i.e., the minimal normal force or grip force necessary to prevent slipping) was estimated as the force at the moment when the object just began to slip. The coefficient of friction was calculated as the ratio between the tangential force and the slip force. The results show that (1) the imposed displacement method is reliable; (2) except sandpaper, for all other materials the coefficient of friction did not depend on the normal force; (3) theskin–sandpapercoefficient of friction was the highest µd= 0.96 ± 0.09 (for 4-N normal force) and theskin–rayonrayon coefficient of friction was the smallest µd= 0.36 ± 0.10; (4) no significant difference between the coefficients of friction determined with the imposed displacement method and the beginning slip method was observed. We view the imposed displacement technique as having an advantage as compared with the beginning slip method, which is more cumbersome (e.g., dropped object should be protected from impacts) and prone to subjective errors owing to the uncertainty in determining the instance of the slip initiation (i.e., impeding sliding).

Sawing of Granite with Side-Slotted Diamond Segments

2006 ◽  
Vol 315-316 ◽  
pp. 103-107
Author(s):  
Yi Qing Yu ◽  
Y.F. Zhang ◽  
Yuan Li ◽  
Xi Peng Xu
Keyword(s):  
Normal Force ◽  
Tangential Force ◽  
Operating Parameters ◽  
Vertical Force ◽  
Cutting Zone ◽  
Circular Sawing ◽  
Diamond Saw ◽  
Force Components ◽  
Saw Blade ◽  
Resultant Forces

The present study was undertaken to examine the feasibility of circular sawing of granite with a newly shaped diamond saw blade. Three slots were formed on each side of each segment of the saw blade. Side-slotted segments and traditional segments were compared under same operating parameters. Measurements were made of the horizontal and vertical force components and the consumed power in order to obtain the tangential and normal force components. The surfaces of worn blade segments were examined by a scanning electron microscope. The consumed powers, normal and tangential force components for the side-slotted segments were found to be lower than those of the traditional segments. The position of resultant forces for the side-slotted segments is a little further away from the bottom of the cutting zone than the traditional segments. SEM observations indicated that the wear of the side-slotted segments was similar to sawing with traditional segments.

scholarly journals Sensing Characteristics of an Optical Three-Axis Tactile Sensor Under Combined Loading.

1999 ◽  
Vol 65 (630) ◽  
pp. 602-608 ◽  
Author(s):  
Masahiro OHKA ◽  
Yasunaga MITSUYA ◽  
Yasuaki MATSUNAGA ◽  
Shuichi TAKEUCHI
Keyword(s):  
Tactile Sensor ◽  
Combined Loading ◽  
Sensing Characteristics

An Experimental Optical Three-axis Tactile Sensor for Micro-Robots

Robotica ◽  
2005 ◽  
Vol 23 (4) ◽  
pp. 457-465 ◽  
Author(s):  
Masahiro Ohka ◽  
Yasunaga Mitsuya ◽  
Isamu Higashioka ◽  
Hisanori Kabeshita
Keyword(s):  
Normal Force ◽  
Axial Loading ◽  
Tactile Sensor ◽  
Horizontal Displacement ◽  
Shearing Force ◽  
Gray Scale ◽  
Rubber Sheet ◽  
The Relationship ◽  
Sensing Characteristics ◽  
Calibration Coefficients

This paper describes a micro-optical three-axis tactile sensor capable of sensing not only normal force, but also shearing force. The normal force was detected from the integrated gray-scale values of bright pixels emitted from the contact area of conical feelers. The conical feelers were formed on a rubber sheet surface that maintains contact with an optical waveguide plate. The shearing force was detected from horizontal displacement of the conical feeler. In the experiments, a precise multi-axial loading machine was developed to measure sensing characteristics of the present sensor. Results show that the normal force was specified uniquely under combined force conditions and that the shearing force was specified by modifying the relationship between the shearing force and the horizontal displacement on the basis of normal force. We formulated a set of expressions to derive the normal force and the shearing force by taking into account this modification. Furthermore, calibration coefficients were identified for transforming the integration of gray-scale values into the normal force and for transforming the horizontal displacement into the shearing force. This result suggests that the expressions can estimate the normal force and the shearing force in wide-load regions.

scholarly journals Effect of Water-Based Nanolubricants in Ultrasonic Vibration Assisted Grinding

2018 ◽  
Vol 2 (4) ◽  
pp. 80 ◽  
Author(s):  
Mir Molaie ◽  
Ali Zahedi ◽  
Javad Akbari
Keyword(s):  
Surface Roughness ◽  
Specific Energy ◽  
Material Removal ◽  
Normal Force ◽  
Tangential Force ◽  
Process Efficiency ◽  
Multiwall Carbon Nanotube ◽  
Ultrasonic Vibrations ◽  
Mql Grinding ◽  
Water Based

Currently, because of stricter environmental standards and highly competitive markets, machining operations, as the main part of the manufacturing cycle, need to be rigorously optimized. In order to simultaneously maximize the production quality and minimize the environmental issues related to the grinding process, this research study evaluates the performance of minimum quantity lubrication (MQL) grinding using water-based nanofluids in the presence of horizontal ultrasonic vibrations (UV). In spite of the positive impacts of MQL using nanofluids and UV which are extensively reported in the literature, there is only a handful of studies on concurrent utilization of these two techniques. To this end, for this paper, five kinds of water-based nanofluids including multiwall carbon nanotube (MWCNT), graphite, Al2O3, graphene oxide (GO) nanoparticles, and hybrid Al2O3/graphite were employed as MQL coolants, and the workpiece was oscillated along the feed direction with 21.9 kHz frequency and 10 µm amplitude. Machining forces, specific energy, and surface quality were measured for determining the process efficiency. As specified by experimental results, the variation in the material removal nature made by ultrasonic vibrations resulted in a drastic reduction of the grinding normal force and surface roughness. In addition, the type of nanoparticles dispersed in water had a strong effect on the grinding tangential force. Hybrid Al2O3/graphite nanofluid through two different kinds of lubrication mechanisms—third body and slider layers—generated better lubrication than the other coolants, thereby having the lowest grinding forces and specific energy (40.13 J/mm3). It was also found that chemically exfoliating the graphene layers via oxidation and then purification prior to dispersion in water promoted their effectiveness. In conclusion, UV assisted MQL grinding increases operation efficiency by facilitating the material removal and reducing the use of coolants, frictional losses, and energy consumption in the grinding zone. Improvements up to 52%, 47%, and 61%, respectively, can be achieved in grinding normal force, specific energy, and surface roughness compared with conventional dry grinding.

Surface Durability of Spur Gears at Hertzian Stresses Over Shakedown Limit

1974 ◽  
Vol 96 (2) ◽  
pp. 359-372 ◽  
Author(s):  
Akira Ishibashi ◽  
Taku Ueno ◽  
Shigetada Tanaka
Keyword(s):  
Fatigue Testing ◽  
Testing Machine ◽  
Carbon Steels ◽  
Rolling Contact ◽  
Hertzian Contact ◽  
Load Testing ◽  
Short Period ◽  
Hertzian Contact Stress ◽  
Surface Durability ◽  
Shakedown Limit

Using a new type of gear-load testing machine and a disk-type rolling fatigue testing machine designed and made by the authors, the upper limits of Hertzian contact stress allowable on rolling contact surfaces were investigated. It was shown conclusively that gears and rollers made of soft carbon steels could be rotated beyond 108 revolutions at Hertzian stresses over shakedown limit (≈ 0.4 HB). In the case of gears, pits having a pitting area ratio of 0.04 percent occurred during 1.16 × 108 rotations at a Hertzian stress of 0.50 HB. However, no pitting occurred on the roller rotated through 1.20 × 108 revolutions at a Hertzian stress of 0.71 HB, although appreciable changes in texture were observed at the subsurface. In order to rotate gears or rollers at Hertzian stresses over shakedown limit, their surface must either be very smooth initially or after a short period of running, and an oil film must be formed between contacting surfaces.

Effect of carbon nanotubes modified with different concentrations of rare earth lanthanum on the mechanical and tribological properties of epoxy composites

2021 ◽  
pp. 002199832098764
Author(s):  
Mingren Jiang ◽  
Xianhua Cheng
Keyword(s):  
Carbon Nanotubes ◽  
Rare Earth ◽  
Polymer Matrix ◽  
Photoelectron Spectroscopy ◽  
Polymer Matrix Composites ◽  
Testing Machine ◽  
Matrix Composites ◽  
Mechanical And Tribological Properties ◽  
The Coefficient Of Friction ◽  
The Rare Earth

Rare earth modified acidified carbon nanotubes were prepared by functionalization of acidified carbon nanotubes with different concentrations of LaCl3. The modification results were characterized by Fourier-transform infrared and X-ray photoelectron spectroscopy. The rare earth successfully increases the surface activity of the acidified carbon nanotubes. Polymer matrix composites were prepared by using the rare earth modified acidified carbon nanotubes as the reinforcement in epoxy matrix. Mechanical properties were analyzed by Zwick Z100 testing machine and the tribological behaviors were test by multifunctional tribological tester. Compared with pure epoxy (epoxy resin), the mechanical strength of the best composite sample was increased by 50–120%, the coefficient of friction was reduced by 19.4% and the wear rate was reduced by approximately 40 times. The experimental results show that the RE concentration of 0.2–0.3 wt% has the most obvious influence on the properties of polymer composites. The mechanism of rare earth reinforcement in polymer matrix is analyzed and suggested.

Skin-skin contact: The normal-force dependence of the coefficient of friction between a bare finger and artificial skin changes randomly

2021 ◽  
Author(s):  
Koki Inoue ◽  
Shogo Okamoto ◽  
Yasuhiro Akiyama ◽  
Yoji Yamada
Keyword(s):  
Experimental Study ◽  
Coefficient Of Friction ◽  
Normal Force ◽  
Skin Surface ◽  
Artificial Skin ◽  
Skin Changes ◽  
Root Cause ◽  
Skin Contact ◽  
The Coefficient Of Friction ◽  
Frictional Forces

Abstract This study investigates the dependence of the coefficients of friction on the normal force produced by sliding a bare finger over different artificial skins with seven levels of hardness. The coefficient of friction was modeled as a power function of the normal force. An experimental study that involved sliding a finger over artificial skin surfaces was carried out under two conditions: the fingertip being wiped by a dry cloth or a cloth soaked in ethanol. Although the exponential term was assumed to be nearly constant for identical tribological conditions, we observed that the exponent varied randomly and could be negative, zero, or positive. This probabilistic behavior has not been explicitly analyzed in previous studies on human fingertips. The probability density function of the exponent depended on the moisture content of the finger. The exponent was either nearly zero or positive when the finger sliding on the skin surface was wiped with an alcohol-soaked cloth and dried. These findings play an important role in analyzing the frictional forces produced during skin–skin contact in terms of determining the root cause behind the random variations in the dependence of the coefficient of friction on the normal force.

The Dependence of the Friction Coefficient on the Size and Course of Sliding Speed

2014 ◽  
Vol 693 ◽  
pp. 305-310 ◽  
Author(s):  
Eva Labašová
Keyword(s):  
Friction Coefficient ◽  
Normal Load ◽  
Testing Machine ◽  
Current Component ◽  
Sliding Speed ◽  
Rectangular Shape ◽  
Coefficient Increase ◽  
The Coefficient Of Friction ◽  
Ring Method ◽  
Run Up

The coefficient of friction for the bronze material (CuZn25Al6) with insert graphite beds and other bronze material (CuSn12) are investigated in this paper. Friction coefficient was investigated experimentally by the testing machine Tribotestor`89 which uses the principle of the ring on ring method. The external fixed bushing was exposed to the normal load of the same size in all tests. Process of load was increased from level 50 N to 600 N during run up 300 s, after the run up the appropriate level of load was held. The internal bushing performed a rotational movement with constant sliding speed. The value of sliding speed was changed individually for every sample (v = 0.2 (0.3, 0.4) m.s-1). The forth test had a rectangular shape of sliding speed with direct current component 0.3 m.s-1 and the amplitude 0.1 m.s-1 period 300 s, the whole test took 2100 s. The obtained results reveal that friction coefficient increase with the increase of sliding speed.

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