Modelling of static friction in rubber–metal contact

Deladi, E.L.; Rooij, M.B. de; Schipper, Dirk J.

doi:10.1016/j.triboint.2005.11.007

Cited by 40 publications

(30 citation statements)

References 8 publications

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“…In contrast to our previous study [11], Tiezzi et al reported that a low fingertip stiffness produces a large frictional force. In the tribology field, Persson [18] has analyzed the kinetic friction between rubber and metal objects, and Deladi et al [19] have analyzed the static friction between rubber and metal objects. In general, kinetic friction is more important in the tribology field.…”

Section: A Related Workmentioning

confidence: 99%

Experimental investigation of effect of fingertip stiffness on resistible force in grasping

Fujihira

Harada

Tsuji

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-In this study, we experimentally investigated the effect of robot fingertip stiffness on the maximum resistible force. The maximum resistible force is defined as the maximum tangential force at which the fingertip can maintain contact when applying and increasing tangential/shearing force. We include in the definition of this term the effect of fingertip deformation. In contrast to our previous study [11], cylindrical fingertips with flat surfaces were used in this study so that the contact area would remain the same when there was no tangential/shearing force. This made it possible to see the effect of fingertip stiffness more clearly. We also investigated the effect of curvature of the contact surface, which was not investigated in depth in [11]. The main findings are as follows. 1) Harder fingertips produce larger resistible forces, irrespective of the shape of the contact surface (flat or curved). 2) For harder fingertips, the maximum resistible force depends largely on the shape of the contact surface, while for softer fingertips, the shape has little effect. 3) For softer fingertips, the magnitude of the resistible force changes little even when the normal force increases.

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Section: A Related Workmentioning

confidence: 99%

Experimental investigation of effect of fingertip stiffness on resistible force in grasping

Fujihira

Harada

Tsuji

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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“…Loeve et al [13] investigated the static friction of stainless steel wire rope-rubber contacts. Deladi et al [14] modeled the static friction for contact between rough rubber and metal surfaces. As described in several works by Barquins et al [15,16], Savkoor [17,18] or more recently by Scheibert et al [19] or Audry and co-workers [20], the static friction of rubber contacts involves complex peeling and micro-slip phenomena which deserve a fracture mechanics description.…”

Section: Introductionmentioning

confidence: 99%

The Reduction of Static Friction of Rubber Contact under Sea Water Droplet Lubrication

2017

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Abstract:In this work, a series of experimental tests is carried out in laboratory conditions which set the rubber compound (soft and stiff), the normal load, and the direction of propagation of sea water droplets into the interface of rubber-steel pipe contact as variables. The results show that the maximum static frictions (F) of rubber-pipe contacts increase as the normal load increases in both dry and lubricating conditions, and the values of F for the softer rubber are higher than that for the stiffer rubber. However, significant reduction in static friction is found due to the lubrication of sea water droplets. The influence of lubrication is stronger when the droplets propagate into the contact interfaces at the tail edge than that at the front edge. Capture sequences of the contact region facilitate the lubrication of seawater droplets by accelerating the progress of separation in the contact interfaces, thus reducing the static friction force. This investigation improves our understanding of the lubrication of sea water droplets during pipe-laying operation, and it will help us to conduct further research on the accuracy and safety of offshore engineering.

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“…There have been very few studies on static friction in the tribology field. Deladi et al [16] analyzed the static friction between rubber and metal objects. However, the stiffness of the materials was not considered.…”

Section: Introductionmentioning

confidence: 99%

Experimental investigation of effect of fingertip stiffness on friction while grasping an object

Watanabe

Fujihira

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Abstract-In this study, we experimentally investigated the effect of robot fingertip stiffness on friction during grasping of an object. To make robots more human-friendly, robotic hands with soft surfaces have been developed. A soft fingertip, i.e., one with low stiffness, is considered desirable because it produces high friction. However, in our experiments, we were able to obtain high friction from a stiff fingertip under a certain condition. We initially investigated the maximum resistible force when solid objects with different angled surfaces were grasped by spherical fingertips of different stiffness. When the contact surface was flat, a stiffer fingertip produced larger frictional force. When the contact surface was highly convex, the maximum frictional force increased with decreasing fingertip stiffness. Secondly, we examined the relationships among the contact area, the load, and the maximum frictional force. We reformulated the relationship between the load and the maximum frictional force and, together with our experimental results, used it to determine the factor that increased the maximum frictional force.

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Modelling of static friction in rubber–metal contact

Cited by 40 publications

References 8 publications

Experimental investigation of effect of fingertip stiffness on resistible force in grasping

Experimental investigation of effect of fingertip stiffness on resistible force in grasping

The Reduction of Static Friction of Rubber Contact under Sea Water Droplet Lubrication

Experimental investigation of effect of fingertip stiffness on friction while grasping an object

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