On the Effect of Contact Friction and Contact Compliance on the Grasp Performance of Underactuated Hands

2009 ◽  
Author(s):  
Gert A. Kragten ◽  
H. Allert Bosch ◽  
Teunis van Dam ◽  
Johan A. Slobbe ◽  
Just L. Herder
Keyword(s):  
Friction Coefficient ◽  
Maximum Force ◽  
Contact Friction ◽  
Marginal Effect ◽  
Experimental Setup ◽  
Contact Material ◽  
Frictional Material ◽  
Friction Coefficients ◽  
Pull Force ◽  
Contact Compliance

Although adding compliant, frictional material on robotic fingers to improve the performance is generally accepted, at least for underactuated hands this effect is hardly quantified. In this study, the phalanges of an underactuated hand in an experimental setup were firstly covered with material of different friction coefficients but equal contact compliance, while the force to pull a grasped object completely out of the hand was measured. Then, the phalanges were covered with material of different compliance while the same measurements were done. In the latter experiment, the effect of contact friction was eliminated by using a specially designed testbed that emulates a frictionless object. The experiments showed an increase of the maximal pull force by 250% when the friction coefficient of the contact material increased from 0.25 to 1.51. The compliance of the contact material had a marginal effect on this maximum force. Finally, the pull force was calculated by a static grasp model, incorporating contact friction and linear contact compliance. Trends similar to the experiments were observed in these simulations.

Experimental investigation on Stribeck curves of different elastic modulus materials under oil and water lubrication conditions

2020 ◽  
Vol 72 (6) ◽  
pp. 805-810
Author(s):  
Hua Zhang ◽  
Guangwu Zhou ◽  
Ping Zhong ◽  
Kepeng Wu ◽  
Xingwu Ding
Keyword(s):  
Elastic Modulus ◽  
Friction Coefficient ◽  
Friction Pair ◽  
Water Lubrication ◽  
Contact Friction ◽  
Friction Coefficients ◽  
Content Type ◽  
Low Viscosity ◽  
Stribeck Curves ◽  
Lubrication Conditions

Purpose The purpose of this paper is to study the influence of friction coefficient of materials with different elastic modulus on the variation of velocity and load under water lubrication and oil lubrication conditions. Design/methodology/approach Low-viscosity lubricating oil and water were used as lubricants to test the friction performance of the ball-disc contact friction pair in the lubrication state on the universal micro-tribometer multi-functional friction and wear test system. Findings In the same speed range, the lubrication states from soft to rigid materials are not necessarily similar to each other. Generally, the material with low elastic modulus is suitable in low-viscosity lubricant environments, while the material with high elastic modulus has relatively smaller friction coefficients in oil-lubricated environments compared with water lubrication. However, the coefficients of polyethylene, polytetrafluoroethylen and polyoxymethylene are exceeded by rubber’s coefficients under water lubrication in the same experiment environments, and their lubrication states are not affected by lubricants. The friction coefficient of the friction pair decreases with the increase of loads; however, it does not apply to all materials. The friction coefficients of materials with smaller elastic modulus such as rubber under high loads are rather large. Therefore, the elastic modulus of the material under high loads is a factor to be considered. Originality/value The Stribeck curves study of the ball-disk contact friction pair comprising soft and rigid materials, whose elastic modulus is from hundreds of GPa to a few of MPa, was carried out. The influence of different speeds, loads and lubricants on the friction coefficient of the friction pair was revealed, which provided a research basis for the selection and matching of friction pair materials.

scholarly journals New Equation for Predicting Pipe Friction Coefficients Using the Statistical Based Entropy Concepts

Entropy ◽  
2021 ◽  
Vol 23 (5) ◽  
pp. 611
Author(s):  
Yeon-Woong Choe ◽  
Sang-Bo Sim ◽  
Yeon-Moon Choo
Keyword(s):  
Friction Coefficient ◽  
Accurate Determination ◽  
Mean Velocity ◽  
Friction Coefficients ◽  
Flow Discharge ◽  
Comparison Results ◽  
Flow Loss ◽  
Key Variables ◽  
New Equation

In general, this new equation is significant for designing and operating a pipeline to predict flow discharge. In order to predict the flow discharge, accurate determination of the flow loss due to pipe friction is very important. However, existing pipe friction coefficient equations have difficulties in obtaining key variables or those only applicable to pipes with specific conditions. Thus, this study develops a new equation for predicting pipe friction coefficients using statistically based entropy concepts, which are currently being used in various fields. The parameters in the proposed equation can be easily obtained and are easy to estimate. Existing formulas for calculating pipe friction coefficient requires the friction head loss and Reynolds number. Unlike existing formulas, the proposed equation only requires pipe specifications, entropy value and average velocity. The developed equation can predict the friction coefficient by using the well-known entropy, the mean velocity and the pipe specifications. The comparison results with the Nikuradse’s experimental data show that the R2 and RMSE values were 0.998 and 0.000366 in smooth pipe, and 0.979 to 0.994 or 0.000399 to 0.000436 in rough pipe, and the discrepancy ratio analysis results show that the accuracy of both results in smooth and rough pipes is very close to zero. The proposed equation will enable the easier estimation of flow rates.

scholarly journals Theoretical Studies of the Interaction between Screw Surface and Material in the Mixer

Materials ◽  
2021 ◽  
Vol 14 (4) ◽  
pp. 962
Author(s):  
Andrzej Marczuk ◽  
Vasily Sysuev ◽  
Alexey Aleshkin ◽  
Petr Savinykh ◽  
Nikolay Turubanov ◽  
...  
Keyword(s):  
Friction Coefficient ◽  
High Efficiency ◽  
Animal Feed ◽  
Structural Features ◽  
Power Demand ◽  
Friction Coefficients ◽  
Length Unit ◽  
Mixing Chamber ◽  
Size Of Particles ◽  
The Impact

Mixing is one of the most commonly used processes in food, animal feed, chemical, cosmetic, etc., industries. It is supposed to provide high-quality homogenous, nutritious mixtures. To provide appropriate mixing of materials while maintaining the process high efficiency and low energy consumption it is crucial to explore and describe the material flow caused by the movement of mixing elements and the contact between particles. The process of mixing is also affected by structural features of the machine components and the mixing chamber, speed of mixing, and properties of the mixed materials, such as the size of particles, moisture, friction coefficients. Thus, modeling of the phenomena that accompany the process of mixing using the above-listed parameters is indispensable for appropriate implementation of the process. The paper provides theoretical power calculations that take into account the material speed change, the impact of the material friction coefficient on the screw steel surface and the impact of the friction coefficient on the material, taking into account the loading height of the mixing chamber and the chamber loading value. Dependencies between the mixer power and the product degree of fineness, rotational speed of screw friction coefficients, the number of windings per length unit, and width of the screw tape have been presented on the basis of a developed model. It has been found that power increases along with an increase in the value of these parameters. Verification of the theoretical model indicated consistence of the predicted power demand with the power demand determined in tests performed on a real object for values of the assumed, effective loading, which was 65–75%.

Effect of the Friction Coefficient on Large Strain Extrusion Machining

2013 ◽  
Vol 273 ◽  
pp. 138-142 ◽  
Author(s):  
Ping Lin ◽  
Zi Chun Xie ◽  
Qing Li
Keyword(s):  
Finite Element ◽  
Friction Coefficient ◽  
Nanostructured Materials ◽  
Deformation Behavior ◽  
Large Strain ◽  
Effective Strain ◽  
Finite Element Simulations ◽  
Friction Coefficients ◽  
Simulation Results

The present study focused on the influence of the friction coefficient on the deformation behavior in large strain extrusion machining (LSEM). A series of simulation results of effective strain were obtained under different friction coefficients by conducting finite element simulations with a FEM code. The results show that LSEM can produce different effective strains by changing the friction coefficients, thus enabling the fabrication of bulk nanostructured materials. An analysis of the variation of effective strain through the chip demonstrated that the chip deformed much more inhomogeneously when the friction coefficient became larger. The obtained results can offer valuable guidelines for later LSEM studies.

A Mixed-TEHL Analysis of Cam-Roller Contacts Considering Roller Slip: On the Influence of Roller-Pin Contact Friction

2018 ◽  
Vol 141 (1) ◽  
Author(s):  
Shivam S. Alakhramsing ◽  
Matthijn B. de Rooij ◽  
Aydar Akchurin ◽  
Dirk J. Schipper ◽  
Mark van Drogen
Keyword(s):  
Friction Coefficient ◽  
Thermal Effects ◽  
Mixed Lubrication ◽  
Contact Friction ◽  
Sudden Increase ◽  
Low Friction ◽  
Pure Rolling ◽  
Lubrication Performance ◽  
Cam Follower ◽  
Film Lubrication

In this work, a mixed lubrication model, applicable to cam-roller contacts, is presented. The model takes into account non-Newtonian, thermal effects, and variable roller angular velocity. Mixed lubrication is analyzed using the load sharing concept, using measured surface roughness. Using the model, a quasi-static analysis for a heavily loaded cam-roller follower contact is carried out. The results show that when the lubrication conditions in the roller-pin contact are satisfactory, i.e., low friction levels, then the nearly “pure rolling” condition at the cam-roller contact is maintained and lubrication performance is also satisfactory. Moreover, non-Newtonian and thermal effects are then negligible. Furthermore, the influence of roller-pin friction coefficient on the overall tribological behavior of the cam-roller contact is investigated. In this part, a parametric study is carried out in which the friction coefficient in the roller-pin contact is varied from values corresponding to full film lubrication to values corresponding to boundary lubrication. Main findings are that at increasing friction levels in the roller-pin contact, there is a sudden increase in the slide-to-roll ratio (SRR) in the cam-roller contact. The value of the roller-pin friction coefficient at which this sudden increase in SRR is noticed depends on the contact force, the non-Newtonian characteristics, and viscosity–pressure dependence. For roller-pin friction coefficient values higher than this critical value, inclusion of non-Newtonian and thermal effects becomes highly important. Furthermore, after this critical level of roller-pin friction, the lubrication regime rapidly shifts from full film to mixed lubrication. Based on the findings in this work, the importance of ensuring adequate lubrication in the roller-pin contact is highlighted as this appears to be the critical contact in the cam-follower unit.

Experimental study on friction coefficient and temperature rise of heavy-load grease-lubricated spherical plain bearings with surface texture

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Jinlong Shen ◽  
Tong Zhang ◽  
Jimin Xu ◽  
Xiaojun LIU ◽  
Kun Liu
Keyword(s):  
Friction Coefficient ◽  
Temperature Rise ◽  
Surface Texture ◽  
Tribological Performance ◽  
Textured Surface ◽  
Textured Surfaces ◽  
Roughness Parameters ◽  
Heavy Load ◽  
Friction Coefficients ◽  
Content Type

Purpose This paper aims to improve the tribological performance of grease-lubricated spherical plain bearings (SPBs) under heavy load, dimple-type textures were prepared by laser on the outer surface of the inner ring. The influence of roughness parameters of a textured surface on reducing friction coefficient and temperature rise was also explored. Design/methodology/approach This study adopts a laser processing method to fabricate dimple-type textures. Three-dimensional roughness parameters were used to characterize the textured surfaces. The friction coefficients of five SPBs with surface texture and one original commercially available SPB without surface texture under different nominal loads were measured on a self-established test rig. The data of temperature rise were obtained by nine embedded thermal couples. Findings The results indicate that SPBs with textures generally exhibit lower friction coefficients than the original SPB without textures. The dimple depth has a significant influence on improving the tribological performance, which coincides with the analysis by surface roughness parameters. A textured surface with negative Ssk and high Vvc has the minimum temperature rise. Originality/value As it is too difficult to arrange sensors into heavy-load SPBs, there are few reports about the temperature characteristics. Through nine embedded thermal couples, the distribution of temperature rise on the inner ring of SPBs was given in this study. The positive effect of surface texture on reducing temperature rise and friction coefficient was verified, which is beneficial for the design of heavy-load SPBs.

Friction and Adhesion of Copper in Vacuum

1967 ◽  
Vol 89 (4) ◽  
pp. 425-431 ◽  
Author(s):  
R. D. Brown ◽  
R. A. Burton
Keyword(s):  
Friction Coefficient ◽  
Contact Duration ◽  
Friction Coefficients ◽  
Dry Air ◽  
Very High

Friction and adhesion coefficients of copper on copper were measured in vacuum (5 × 10−10 to 4 × 10−7 torr) at temperatures ranging from −270 to 1000 F, and in controlled pressures of dry air ranging from 10−9 to 760 torr at 75 F. The effects of duration of exposure of surfaces to vacuum, and the effects of contact duration on adhesion were studied. Friction coefficients were very high (2.2 to over 16) and increased greatly with temperature; adhesion coefficients also increased with temperature, but at given temperatures, were about one-tenth the magnitudes of the friction coefficient.

Effect of Graphite Content on Cu–Ni–Graphite Composite for Use as Switch Slide Baseplate Materials Sliding Against U75V Steel

2019 ◽  
Vol 141 (12) ◽  
Author(s):  
Yiran Wang ◽  
Yimin Gao ◽  
Jun Takahashi ◽  
Yi Wan ◽  
Yunqian Zhang ◽  
...  
Keyword(s):  
Friction Coefficient ◽  
Wear Mechanism ◽  
High Speed ◽  
Sliding Friction ◽  
Rapid Development ◽  
Wear Volume ◽  
Fatigue Wear ◽  
Friction Coefficients ◽  
Graphite Composite ◽  
Graphite Content

Abstract The rapid development of high-speed railways necessitates the development of new materials for switch slide baseplates. In this study, a Cu–Ni–graphite composite, containing 1 wt% to 6 wt% graphite and prepared by powder metallurgy, was used as a potential material. Pin-on-disk wear tests were conducted to measure the sliding friction of the Cu–Ni–graphite composite against U75 V steel. The results showed that the friction coefficients gradually decreased when the graphite content in the composite ranged from 1 wt% to 4 wt% in the composite. When the graphite content was 4 wt%, the friction coefficient reached the minimum value (0.153). When the graphite content was low (1 wt% to 4 wt%), the primary wear mechanism was microcutting. An increased graphite content facilitated the generation of lubricating films and decreased the wear damage. As the graphite content increased from 4 wt% to 6 wt%, the friction coefficients also increased. The variation in the wear volume rate had the same tendency as the friction coefficient. When the graphite content exceeded 4 wt%, the primary wear mechanism was delamination and fatigue wear. Due to the tendency to form cracks on the subsurface and the plentiful generation of the spalled pits, the graphite fragments could not completely form lubricating films but separated as wear debris. The lubricating films existing on the U75 V steel were in proportion to the graphite content in the composite. The wear weight loss of the U75 V steel exhibited a reduction with increasing graphite content.

Stochastic Theory of Human Slipping

2002 ◽  
Author(s):  
Ralph L. Barnett ◽  
Susanne A. Glowiak ◽  
Peter J. Poczynok
Keyword(s):  
Friction Coefficient ◽  
Duty Cycle ◽  
Stochastic Theory ◽  
The Other ◽  
Extreme Value Statistics ◽  
Conventional Theory ◽  
Low Friction ◽  
Friction Coefficients ◽  
Duty Cycles ◽  
New Concepts

The conventional approach to human slipping is essentially deterministic; it states that no slipping will occur when the average friction coefficient is greater than some critical friction criterion. Under this condition, pedestrians will not slip when they encounter the average friction coefficient. On the other hand, to successfully negotiate a walk of n-steps they must not slip when they encounter the smallest of the n friction coefficients. Consequently, a new slip theory has been formulated as a problem in extreme value statistics. An elegant relationship is obtained among the probability of slipping, the critical friction criterion, the number of steps taken by the walker, and the central measure, scatter, and asymmetry of the distribution of friction coefficients. The new theory reveals the structure of human slipping in a startling way that introduces completely new concepts: the go/no go nature of classical slip predictions is replaced by a probability of slipping; low friction floor/footwear couples may lead to fewer slips than high friction ones; slipping can occur in any case where conventional theory predicts “no slip”; and the number of slips depends on the distance traveled by a pedestrian. Finally, this paper develops the idea that the slipperiness of a real floor must be evaluated for a duty-cycle. Duty-cycles can be represented as frequency histograms when a floor is homogeneous and isotropic.

Effects of External Hard Particles on Brake Friction Characteristics During Hard Braking

2012 ◽  
Vol 58 (2) ◽  
Author(s):  
M. K. Abdul Hamid ◽  
G. W. Stachowiak
Keyword(s):  
Standard Deviation ◽  
Friction Coefficient ◽  
Contact Area ◽  
Oscillation Amplitude ◽  
Stopping Time ◽  
Hard Particle ◽  
Friction Coefficients ◽  
Hard Particles ◽  
Effective Contact ◽  
Friction Oscillation

The effects of external hard particles on the friction coefficients and its oscillation amplitudes during hard braking were investigated. Silica sands of the size between 180 to 355 μm were used during the experiments. The results were compared to the results obtained without the grit particles present in order to determine the change in friction coefficient and the fluctuation of frictional oscillation amplitude. Different sliding speeds were applied and external hard particle of different size is found to significantly affect the friction coefficient and standard deviation of friction oscillation amplitude values. The friction coefficients increase with hard particle due to the rapid changes of the effective contact area and the abrasion mode. Some embedded particles operating in two body abrasion mode help to increase the disc surface roughness and influence the stopping time of the disc. The standard deviation values of friction oscillation amplitude however were stable due to more wear debris produced and get compacted to form friction films assisting friction and they tend to reduce at medium speeds because many contact plateaus and effective contact area started to stabilize.

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