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ABSTRACT Being able to estimate tire/rubber friction is very important to tire engineers, materials developers, and pavement engineers. This is because of the need for estimating forces generated at the contact, optimizing tire and vehicle performance, and estimating tire wear. Efficient models for contact area and interfacial separation are key for accurate prediction of friction coefficient. Based on the contact mechanics and surface roughness, various models were developed that can predict real area of contact and penetration depth/interfacial separation. In the present work, we intend to compare the analytical contact mechanics models using experimental results and numerical analysis. Nano-indentation experiments are performed on the rubber compound to obtain penetration depth data. A finite element model of a rubber block in contact with a rough surface was developed and validated using the nano-indentation experimental data. Results for different operating conditions obtained from the developed finite element model are compared with analytical model results, and further model improvements are discussed.
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Microspine-rubber composite for high friction on smooth, rough, and wet surfaces
As robotic technologies advance and robots move out of factories and labs into the real world, grip on a variety of surfaces (e.g. smooth or rough) in a variety of conditions (e.g. dry or wet) becomes increasingly important. Bioinspired “microspines” have been previously explored, but primarily for vertical climbing applications or for small-scale robots applying low forces (less than 1 N). Further, these works primarily focused on rough surfaces. To advance this area of research, we present a composite material comprising high- friction rubber and compliant nitinol microspines which can passively retract below the surface of the rubber. We show that the composite can support large loads (greater than 75 N) with a high coefficient of friction on both smooth and rough surfaces (μ > 1.1), outperforming microspines alone on smooth surfaces and rubber alone on rough surfaces, especially when wet and oily. Further, due to the retraction of the microspines, the composite does not damage relatively soft, smooth surfaces, like wood flooring. We also test durability, and show that it is improved by microspine compliance, and test the effects of varying microspine diameter, angle, and tip shape. Finally, we demonstrate that a small RC car can climb steeper slopes and stop more quickly in wet conditions with microspines.
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- Award ID(s):
- 1925373
- PAR ID:
- 10294797
- Date Published:
- Journal Name:
- Proceedings of the IEEERSJ International Conference on Intelligent Robots and Systems
- ISSN:
- 2153-0858
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
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