机器人手指的皮肤材料

M. Cutkosky, John M. Jourdain, P. Wright
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引用次数: 112

摘要

在清洁、干燥和环境污染条件下对柔性材料进行测试,以确定哪种材料最适合机械手的接触区域,并建立材料摩擦行为的精确模型。在清洁、干燥的条件下,一些最有前途的材料在油和水的存在下表现不可靠。接触形状、表面纹理和表面孔隙率对最终摩擦系数有较大影响。将这些测试结果与我们对人类和灵长类动物手部皮肤的了解结合起来,得出了几个关于机器人手手指理想皮肤的设计结论。
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Skin materials for robotic fingers
Compliant materials were tested both under clean, dry conditions and with environmental contamination to determine which materials were most suitable for the contact areas of a robotic hand and to establish accurate models of the materials' frictional behavior. Some of the most promising materials under clean, dry conditions performed unreliably in the presence of oil and water. Contact shape, surface texture and surface porosity each had a strong effect on the ultimate coefficient of friction. Combining the results of these tests with what we know about the skin on human and primate hands leads to several design conclusions about the ideal skin for the fingers of a robotic hand.
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