G150053 タイヤ接地面の摩擦係数を検知可能な触覚センサの研究([G15005]ロボティクス・メカトロニクス部門一般セッション(5))

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A lot of studies try to develop intelligent tire systems that can measure the friction coefficients of roads so as to improve the performance of vehicle motion control systems such as ABS (anti-lock braking system). However, previously proposed systems are complicated and high-cost. Furthermore, they have not yet achieved the applicative measurement. Thus, this study proposes a simple and low-cost tactile sensor that can be practically applied to measure the friction coefficient between a tire and a road surface. The sensor is composed of a cantilever called "whisker" that is fixed to a base. The base is an elastic plate, the surface of which two strain gauges are attached to. The whisker is passed through the hole opened to the tread part of the tire and the sensor is attached to its inner surface. The whisker is covered by a domed rubber, the bottom surface of which is used as the contact part. When the contact part contacts with a road, the vertical load and frictional force are applied to it. Then, whisker is compressed and bended, so that the base is deformed elastically. The induced strains on the base from such deformations are measured by the abovementioned strain gauges. Then the value of the vertical load and frictional force are determined from the measured strains. Therefore the friction coefficient can be obtained from the results. The study fabricates the prototype tactile sensor and denotes its availability.
一般社団法人日本機械学会の論文
2011-09-11

G150053 タイヤ接地面の摩擦係数を検知可能な触覚センサの研究([G15005]ロボティクス・メカトロニクス部門一般セッション(5))

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