Details
| Original language | English |
|---|---|
| Pages (from-to) | 2165-2176 |
| Number of pages | 12 |
| Journal | MECCANICA |
| Volume | 58 |
| Issue number | 11 |
| Early online date | 7 Nov 2023 |
| Publication status | Published - Nov 2023 |
Abstract
The ability to interact safely with the environment is known as one of the major advantages of soft robots (SRs). Due to their low material stiffness, these continuously deformable robots offer inherent flexibility. These advantages make them suitable for application that involve human-robot collaboration in industrial settings as well as medical application such as minimally invasive surgery. To date only few research groups have analyzed the contact and frictional behavior of soft robots. In fact, the contact behavior is often oversimplified or neglected. Motivated by the idea to bridge this gap, this work presents measurements and the resulting coefficient of friction (COF) for silicone rubbers that are widely used in the field of SRs and different contact partners which depend on contact pressure and ambient temperature. From these measurements, a more representative contact model is established and used to more accurately simulate soft material robots’ frictional contact behavior. Moreover the influence of friction and therefore the need to implement frictional behavior is demonstrated for a typical application of a SR.
Keywords
- Contact modeling, Elastomers, Friction, Friction measurement, Soft robotics
ASJC Scopus subject areas
- Physics and Astronomy(all)
- Condensed Matter Physics
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
Cite this
- Standard
- Harvard
- Apa
- Vancouver
- BibTeX
- RIS
In: MECCANICA, Vol. 58, No. 11, 11.2023, p. 2165-2176.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Investigating frictional contact behavior for soft material robot simulations
AU - Berthold, Rebecca
AU - Burgner-Kahrs, Jessica
AU - Wangenheim, Matthias
AU - Kahms, Stephanie
N1 - Funding Information: Funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under grant no. 405032969 as part of the priority program 2100 Soft Material Robotic Systems.
PY - 2023/11
Y1 - 2023/11
N2 - The ability to interact safely with the environment is known as one of the major advantages of soft robots (SRs). Due to their low material stiffness, these continuously deformable robots offer inherent flexibility. These advantages make them suitable for application that involve human-robot collaboration in industrial settings as well as medical application such as minimally invasive surgery. To date only few research groups have analyzed the contact and frictional behavior of soft robots. In fact, the contact behavior is often oversimplified or neglected. Motivated by the idea to bridge this gap, this work presents measurements and the resulting coefficient of friction (COF) for silicone rubbers that are widely used in the field of SRs and different contact partners which depend on contact pressure and ambient temperature. From these measurements, a more representative contact model is established and used to more accurately simulate soft material robots’ frictional contact behavior. Moreover the influence of friction and therefore the need to implement frictional behavior is demonstrated for a typical application of a SR.
AB - The ability to interact safely with the environment is known as one of the major advantages of soft robots (SRs). Due to their low material stiffness, these continuously deformable robots offer inherent flexibility. These advantages make them suitable for application that involve human-robot collaboration in industrial settings as well as medical application such as minimally invasive surgery. To date only few research groups have analyzed the contact and frictional behavior of soft robots. In fact, the contact behavior is often oversimplified or neglected. Motivated by the idea to bridge this gap, this work presents measurements and the resulting coefficient of friction (COF) for silicone rubbers that are widely used in the field of SRs and different contact partners which depend on contact pressure and ambient temperature. From these measurements, a more representative contact model is established and used to more accurately simulate soft material robots’ frictional contact behavior. Moreover the influence of friction and therefore the need to implement frictional behavior is demonstrated for a typical application of a SR.
KW - Contact modeling
KW - Elastomers
KW - Friction
KW - Friction measurement
KW - Soft robotics
UR - http://www.scopus.com/inward/record.url?scp=85175965385&partnerID=8YFLogxK
U2 - 10.1007/s11012-023-01719-5
DO - 10.1007/s11012-023-01719-5
M3 - Article
AN - SCOPUS:85175965385
VL - 58
SP - 2165
EP - 2176
JO - MECCANICA
JF - MECCANICA
SN - 0025-6455
IS - 11
ER -