218 曲面状弾性フィンガの内部ひずみを用いた摩擦係数検出法

概要

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Two methods are proposed for grasping object with unknown weight and the friction coefficient by robot hands in recent years. First method is to detect partial incipient slip region at the contact surface. Another one is to detect the friction coefficient between robot hands and object. The latter method have demerit that needs entire slippage of an object. In the present study, new method is proposed for detecting a friction coefficient between an object and a curved surface elastic finger only by indenting the finger into the object. First, a contact condition between a plate and a elastic finger having curbed surface is calculated using finite element analysis. The deformation of the elastic finger, and strain distribution inside the elastic finger are calculated for different friction coefficients between finger and plate. Results show that strain distribution inside the finger differs when the friction coefficient differs. Experimental results show similar tendency to calculation. From these results, the method is confined that friction coefficient can be measured by elastic finger having curved surface.
一般社団法人日本機械学会の論文
2002-04-18