Tactile perception and friction can be modified by producing a deterministic surface topography.Change of surface feature arrangement and texture symmetry can produce an anisotropic frictional behaviour.It is generall...Tactile perception and friction can be modified by producing a deterministic surface topography.Change of surface feature arrangement and texture symmetry can produce an anisotropic frictional behaviour.It is generally achieved through skin hysteresis by promoting its deformation.This work investigates whether a bidirectional friction can be created with microscale ellipsoidal asperity textures,thus relying on the adhesive component of friction.For this purpose,four textured samples with various asperity dimensions were moulded with a silicone rubber having an elastic modulus comparable to that of the skin.Coefficient of friction measurements were conducted in-vivo in two sliding directions with a range of normal loads up to 4 N.Finite element method(FEM)was used to study elastic deformation effects,explain the observed friction difference,and predict surface material influence.Measurements performed perpendicular to the asperity major radii showed consistently higher friction coefficients than that during parallel sliding.For the larger asperity dimensions,a change of the sliding direction increased friction up to a factor of 2.The numerical analysis showed that this effect is mostly related to elastic asperity deflection.Bidirectional friction differences can be further controlled by asperity dimensions,spacing,and material properties.展开更多
This paper is dealing with the problem of tracking control for uncertain flexible joint manipulator robots driven by brushless direct current motor(BDCM). Flexibility of joint in the manipulator constitutes one of the...This paper is dealing with the problem of tracking control for uncertain flexible joint manipulator robots driven by brushless direct current motor(BDCM). Flexibility of joint in the manipulator constitutes one of the most important sources of uncertainties. In order to achieve high performance, all parts of the manipulator including actuator have been modeled. To cancel the tracking error, a hysteresis current controller and speed controllers have been developed. To evaluate the effectiveness of speed controllers, a comparative study between proportional integral(PI) and sliding mode controllers has been performed. Finally, simulation results carried out in the Matlab simulink environment demonstrate the high precision of sliding mode controller compared with PI controller in the presence of uncertainties of joint flexibility.展开更多
基金This work was supported by INTERREG V-A Deutschland-Nederland program MOVERO under the project number 142091.
文摘Tactile perception and friction can be modified by producing a deterministic surface topography.Change of surface feature arrangement and texture symmetry can produce an anisotropic frictional behaviour.It is generally achieved through skin hysteresis by promoting its deformation.This work investigates whether a bidirectional friction can be created with microscale ellipsoidal asperity textures,thus relying on the adhesive component of friction.For this purpose,four textured samples with various asperity dimensions were moulded with a silicone rubber having an elastic modulus comparable to that of the skin.Coefficient of friction measurements were conducted in-vivo in two sliding directions with a range of normal loads up to 4 N.Finite element method(FEM)was used to study elastic deformation effects,explain the observed friction difference,and predict surface material influence.Measurements performed perpendicular to the asperity major radii showed consistently higher friction coefficients than that during parallel sliding.For the larger asperity dimensions,a change of the sliding direction increased friction up to a factor of 2.The numerical analysis showed that this effect is mostly related to elastic asperity deflection.Bidirectional friction differences can be further controlled by asperity dimensions,spacing,and material properties.
文摘This paper is dealing with the problem of tracking control for uncertain flexible joint manipulator robots driven by brushless direct current motor(BDCM). Flexibility of joint in the manipulator constitutes one of the most important sources of uncertainties. In order to achieve high performance, all parts of the manipulator including actuator have been modeled. To cancel the tracking error, a hysteresis current controller and speed controllers have been developed. To evaluate the effectiveness of speed controllers, a comparative study between proportional integral(PI) and sliding mode controllers has been performed. Finally, simulation results carried out in the Matlab simulink environment demonstrate the high precision of sliding mode controller compared with PI controller in the presence of uncertainties of joint flexibility.
