A 1.5-order modified Reynolds equation for solving the ultra-thin film gas lubrication problem is derived by using an accurate higher-order slip-flow model. This model features two key differences from the current second-order slip-flow model. One is the involvement of an accommodation coefficient for momentum. The other is that the coefficient of the second-order slip-flow term is 4/9 times smaller than that for the current model. From the physical consideration of momentum transfer, the accommodation coefficient is found to have no affect on the second-order slip-flow term. Numerical calculations using the 1.5-order modified Reynolds equation are performed. The results are compared with those obtained using three kinds of currently employed modified Reynolds equations: those employing the first- and second-order slip-flow models and those utilizing the Boltzmann equation. These comparisons confirm that the present modified Reynolds equation provides intermediate characteristics between those derived from the first- and second-order slip-flow models, and produces an approximation closer to the exact solution resulting from the Boltzmann-Reynolds equation.

An understanding of the viscoelastic properties of molecularly thin lubricant film is essential to clarify tribological issues of head-disk interface (HDI) in high-density recording hard disk drives. Characteristic conditions for the HDI occur when lubricant molecules are extremely confined in the gap between the head and the disk surfaces, and the surfaces slide at high speeds. The lower the flying height, the more this confinement affects the flying characteristics. However, a few attempts have been made at clarifying the dynamic viscoelastic properties of confined lubricant molecules. This is because a method of measuring the dynamic shear force has not yet been established. Fiber wobbling method enables us to measure the shear force with a detection limit of less than 1 nN. Additionally, frequency of shear can be set at several kHz. Further, the gap which confines the lubricant is controlled with a resolution of 0.1 nm. Using the FWM, we investigated the effect that confinement had on the dynamic viscoelastic properties of perfluoropolyether lubricants on a magnetic disk. We found that the viscosity started to increase at a gap width that was less than a few hundred nanometers, which is hundreds of times larger than the molecular size. On the other hand, elasticity suddenly appeared at a gap width that was less than a few nanometers, which is equivalent to a few molecular sizes. Both the viscosity and elasticity increased monotonically as the gap decreased.

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.

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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°.