Role of capillary adhesion in the friction peak during the tacky transition

The friction peak that occurs in tire-road sliding when the contact changes from wet to dry was previously attributed to capillary cohesion, van der Waals attraction, and surface roughness, but the detailed mechanisms have yet to be revealed. In this study, friction and static contact experiments were conducted using a custom-built in situ optical microtribometer, which allowed us to investigate the evolution of the friction, normal load, and contact area between a polydimethylsiloxane (PDMS) film and a silicon nitride ball during water volatilization. The friction coefficient increased by 100%, and the normal force dropped by 30% relative to those in the dry condition during the wet-to-dry transition. In static contact experiments, the probe indentation depth increased, and the normal load decreased by ∼60% as the water evaporated. Combining the friction and static contact results, we propose that the large friction peak that appeared in this study can be attributed to the combined effects of increased adhesive capillary force and increased plowing during the wet-to-dry transition.

Indentation Measurement in Thin Plates under Bending Using 3D Digital Image Correlation

In the current paper, a novel experimental methodology to characterize the contact behavior on thin plates under bending is presented. The method is based on the experimental measurement of the indentation observed during contact experiments. Tests were conducted using aluminum thin plates and a steel sphere to evaluate the effect of thickness and bending during contact. For this purpose, a non-contact optical technique, 3D Digital Image Correlation (3D-DIC), has been employed to measure the out-of-plane displacements experienced at the rear face of the specimens (opposite where the contact is occurring). An indirect measurement of the experimental contact law is obtained for different plate thicknesses (2 mm, 3 mm, 4 mm, 5 mm and 6 mm) as the contact load increases. An energy balance performed during contact experiments made it possible to evaluate and quantify the applied energy to generate bending and contact deformation. When the specimen thickness increases from 2 mm to 6 mm, contact deformation reaches higher values from the total applied energy. In addition, it is also possible to evaluate the portion of the elastically recovered energy for contact and bending deformation during the unloading. It has been observed that thicker specimens show a lower elastic energy recovery due to bending and a higher elastic energy recovery due to contact. Results clearly show how the ratio between absorbed and applied energy changes as the specimen thickness increases, highlighting the relevance of the proposed method for the characterization of contact behavior in thin plates.

Simultaneous Kinematic and Contact Force Modeling of a Human Finger Tendon System Using Bond Graphs and Robotic Validation

This paper aims to use bond graph modeling to create the most comprehensive finger tendon model and simulation to date. Current models are limited to either free motion without external contact or fixed finger force transmission between tendons and fingertip. The forward dynamics model, presented in this work, simultaneously simulates the kinematics of tendon-finger motion and contact forces of a central finger given finger tendon inputs. The model equations derived from bond graphs are accompanied by nonlinear relationships modeling the anatomical complexities of moment arms, tendon slacking, and joint range of motion (ROM). The structure of the model is validated using a robotic testbed, Utah's Anatomically correct Robotic Testbed (UART) finger. Experimental motion of the UART finger during free motion (no external contact) and surface contact are simulated using the bond graph model. The contact forces during the surface contact experiments are also simulated. On average, the model was able to predict the steady-state pose of the finger with joint angle errors less than 6 deg across both free motion and surface contact experiments. The static contact forces were accurately predicted with an average of 11.5% force magnitude error and average direction error of 12 deg.

Preliminary Study on Making Arc Characteristics of AgSnO2 Contact

In order to analyze the making arc characteristics of AgSnO₂ contact, experiments were carried out with a self-developed experimental equipment. It was found that contact resistance had no obvious change with the increase of the number of experiments.In the later stage of the experiment, the contact bounces occurred during the contact closing process, which not only prolonged the making arc duration, but also increased making arc energy. When the contact was eroded to a certain extent by arc, making welding occurs.

Exploring User Perception Challenges in Vibrotactile Haptic Display Using Resonant Microbeams under Contact with Skin

Resonant vibrotactile microbeams use the concept of resonance to excite the vibration of cantilever beams, which correspond to pixels of an image. The primary benefit of this type of tactile display is its potential for high resolution. This paper presents the concept of the proposed system and human skin contact experiments to explore user perception challenges related to beam vibration during skin contact. The human skin contact experiments can be described in five phases: dried skin contact to metal beam tips, wet and soaped skin contact to metal beam tips, skin contact with a constraint, normal force measurement, and skin contact to the tips of silicone rubber beams attached to metal beam tips. Experimental results are analyzed to determine in what cases of skin contact the beams stop vibrating. It is found that the addition of silicone rubber beams allows the primary metal beams to continue vibrating while in contact with skin. Thus, the vibration response of a metal beam with silicone rubber beams is investigated for the better understanding of the effect of silicone rubber beams on the metal beam vibration.