通过软机器人抓手中的指纹状软表面纹理增强摩擦力,提高抓取能力

IF 2.9 3区 工程技术 Q2 ENGINEERING, CHEMICAL Tribology Letters Pub Date : 2024-04-04 DOI:10.1007/s11249-024-01848-2
Tianze Hao, Huaping Xiao, Jutao Wang, Xiaofei Wang, Shuhai Liu, Qingjian Liu
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引用次数: 0

摘要

柔性表面纹理通常用于设计机器人,以操控需要强大摩擦力的物体。在这项研究中,我们设计并制备了柔性硅橡胶薄膜,其表面纹理的灵感来源于人类手指尖上的凹槽图案。这些设计包括环状、轮状和拱形图案,以及作为对照组的水平和垂直条纹纹理。在表面形态分析的基础上,我们建立了一个相对滑动测试平台,通过软质表面纹理和刚性平面接触对的相对滑动测试来收集摩擦系数(COF)。摩擦系数可指导有限元模拟过程中接触特性的表征。根据摩擦测试的结果,在不同的接触应力下,环形、轮状和水平条纹表现出较高的摩擦系数,而拱形和垂直条纹则表现出较低的摩擦系数。通过使用 Abaqus 显式动态分析模拟摩擦过程,分析了刚性表面与五种不同类型的软表面纹理之间接触面的变化规律。随后用弹性应变能描述了不同接触应力下软表面纹理的变形。与垂直条纹纹理相比,环状、轮状和拱形纹理在相对滑动阶段表现出更大的可恢复应变能,这意味着更大的平均弹性位移。随后,将不同的软表面纹理集成到软机器手的指尖上,并在与润滑相关的医疗场景中评估其抓取能力。与平行于运动方向的纹理相比,垂直于运动方向的纹理具有更强的摩擦能力。由于表面纹理图案错综复杂,它在各个方向的相对运动中都表现出更强的适应性。本研究提出了一种具有类似指纹表面纹理的软机械手。通过实验和有限元模拟,本研究利用表面工程设计来理解软机械手抓取过程中的接触特性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

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Friction Enhancement Through Fingerprint-like Soft Surface Textures in Soft Robotic Grippers for Grasping Abilities

Flexible surface textures are often utilized in the design of robots that need to manipulate objects requiring a strong frictional force. In this study, we designed and prepared flexible silicone rubber films with surface textures inspired by groove patterns found at the tips of human fingers. These designs included loop, whorl, and arch patterns, as well as horizontal and vertical stripe textures as a control group. On the basis of surface morphology analysis, we established a relative sliding test platform to collect coefficient of friction (COF) through relative sliding tests of soft surface textures and rigid plane contact pairs. The friction coefficient guides the characterization of the contact properties in the finite element simulation process. According to the results of friction testing, the loop, whorl, and horizontal stripe exhibit a higher friction coefficient under variable contact stress, while the arch and vertical stripe display a lower coefficient. The variation patterns of the contact surfaces between a rigid surface and five distinct types of soft surface textures were analyzed by simulating the friction process using Abaqus explicit dynamic analysis. The deformation of the soft surface textures under different contact stresses is subsequently described in terms of elastic strain energy. Compared to the vertical stripe texture, loop, whorl, and arch exhibit greater recoverable strain energy during the relative sliding stage, which means a larger average elastic displacement. Subsequently, different soft surface textures are integrated onto the fingertip of a soft robotic hand, and the grasping ability is evaluated within lubrication-related medical scenarios. The texture perpendicular to the movement direction exhibits a higher friction-producing capability compared to the texture aligned parallel to it. Due to the intricate surface texture patterns, it demonstrates greater adaptability for relative motion in all directions. This research proposes a soft robotic hand incorporating a surface texture resembling fingerprint-like surface texture. By employing experimentation and finite element simulation, this study utilizes surface engineering design to comprehend the contact characteristics involved in the grasping process of a soft robotic hand.

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来源期刊
Tribology Letters
Tribology Letters 工程技术-工程:化工
CiteScore
5.30
自引率
9.40%
发文量
116
审稿时长
2.5 months
期刊介绍: Tribology Letters is devoted to the development of the science of tribology and its applications, particularly focusing on publishing high-quality papers at the forefront of tribological science and that address the fundamentals of friction, lubrication, wear, or adhesion. The journal facilitates communication and exchange of seminal ideas among thousands of practitioners who are engaged worldwide in the pursuit of tribology-based science and technology.
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