An official website of the United States government
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.
more »
« less
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.
more »
« less
- 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
More Like this
-
-
Abstract The current study investigates electroless nickel plating and surface finishing techniques such as ChemPolishing (CP) and ElectroPolishing (EP) for postprocessing on additively manufactured stainless-steel samples. Existing additive manufacturing (AM) technologies generate metal components with a rough surface that typically exhibit fatigue characteristics, resulting in component failure and undesirable friction coefficients on the printed part. Small cracks formed in rough surfaces at high surface roughness regions act as a stress raiser or crack nucleation site. As a result, the direct use of as-produced parts is limited, and smoothening the Surface presents a challenge. Previous research has shown that CP ChemPolishing has a significant advantage in producing uniform, smooth surfaces regardless of size or part geometry. EP Electropolishing has a high material removal rate and an excellent surface finishing capability. Electropolishing, on the other hand, has some limitations in terms of uniformity and repeatability. On additively manufactured stainless-steel samples, electroless nickel deposition has a higher plating potential. Nickel has excellent wear resistance, and nickel-plated samples are more robust as scratch resistant than not plated samples when tested for scratch resistance. This research uses medium-phosphorus (6–9% P) and high-phosphorus (10–13% P). The L9 Taguchi design of experiments (DOE) was used to optimize the electroless nickel deposition experiments. The mechanical properties of as-built and nickel-coated additive manufacturing (AM) samples were investigated using a standard 5 N scratch test and the adhesion test ASTM B-733 thermal shock method. The KEYENCE Digital Microscope VHX-7000 was used to examine the pre- and post-processed surfaces of the AM parts. The complete scratch and Design of Experiment (DOE) analysis was performed using the Qualitek-4 software. This work is in progress concerning testing the optimum conditions, completing measurements, and analyzing the results.more » « less
-
Currently soft robots primarily rely on pneumatics and geometrical asymmetry to achieve locomotion, which limits their working range, versatility, and other untethered functionalities. In this paper, we introduce a novel approach to achieve locomotion for soft robots through dynamically tunable friction to address these challenges, which is achieved by subsurface stiffness modulation (SSM) of a stimuli-responsive component within composite structures. To demonstrate this, we design and fabricate an elastomeric pad made of polydimethylsiloxane (PDMS), which is embedded with a spiral channel filled with a low melting point alloy (LMPA). Once the LMPA strip is melted upon Joule heating, the compliance of the composite structure increases and the friction between the composite surface and the opposing surface increases. A series of experiments and finite element analysis (FEA) have been performed to characterize the frictional behavior of these composite pads and elucidate the underlying physics dominating the tunable friction. We also demonstrate that when these composite structures are properly integrated into soft crawling robots inspired by inchworms and earthworms, the differences in friction of the two ends of these robots through SSM can potentially be used to generate translational locomotion for untethered crawling robots.more » « less
-
We study the lubricated contact of sliding soft surfaces that are locally patterned but globally cylindrical, held together under an external normal force. We consider gently engineered sinusoidal patterns with small slopes. Three dimensionless parameters govern the system: a speed, and the amplitude and wavelength of the pattern. Using numerical solutions of the Reynolds lubrication equation, we investigate the effects of these dimensionless parameters on key variables such as contact pressure and the coefficient of friction of the lubricated system. For small pattern amplitudes, the coefficient of friction increases with the amplitude. However, our findings reveal that increasing pattern amplitude beyond a critical value can decrease the friction coefficient, a result that contradicts conventional intuition and classical studies on the lubrication of rigid surfaces. For very large amplitudes, we show that the coefficient of friction drops even below the corresponding smooth case. We support these observations with a combination of perturbation theory and physical arguments, identifying scaling laws for large and small speeds, and for large and small pattern amplitudes. This study provides a quantitative understanding of friction in the contact of soft, wet objects and lays theoretical foundations for incorporating the friction coefficient into haptic feedback systems in soft robotics and haptic engineering.more » « less
-
null (Ed.)Synopsis Animals clinging to natural surfaces have to generate attachment across a range of surface roughnesses in both dry and wet conditions. Plethodontid salamanders can be aquatic, semi-aquatic, terrestrial, arboreal, troglodytic, saxicolous, and fossorial and therefore may need to climb on and over rocks, tree trunks, plant leaves, and stems, as well as move through soil and water. Sixteen species of salamanders were tested to determine the effects of substrate roughness and wetness on maximum cling angle. Substrate roughness had a significant effect on maximum cling angle, an effect that varied among species. Substrates of intermediate roughness (asperity size 100–350 µm) resulted in the poorest attachment performance for all species. Small species performed best on smooth substrates, while large species showed significant improvement on the roughest substrates (asperity size 1000–4000 µm), possibly switching from mucus adhesion on a smooth substrate to an interlocking attachment on rough substrates. Water, in the form of a misted substrate coating and a flowing stream, decreased cling performance in salamanders on smooth substrates. However, small salamanders significantly increased maximum cling angle on wetted substrates of intermediate roughness, compared with the dry condition. Study of cling performance and its relationship to surface properties may cast light onto how this group of salamanders has radiated into the most speciose family of salamanders that occupies diverse habitats across an enormous geographical range.more » « less
- Free Publicly Accessible Full Text
-
Accepted Manuscript1.0
- Conference Paper:
- The DOI is not currently available.
