摘要
为了研究人手指抓持表面光滑物体时静摩擦力与湿度和抓持力的关系,在本研究中设计并制作了一种可在被抓持物体的重量连续变化的条件下测量指腹变形、抓持力及摩擦力的装置.在不同湿度和被抓持物体重量的条件下测量并分析了指腹变形及其与表面光滑物体之间的最大静摩擦系数,通过指腹变形量度量指腹与被抓持物体之间的黏着力,以此分析湿度对最大静摩擦系数的影响机理.结果表明:最大静摩擦系数依存于抓持力,随抓持力的增加先呈负幂函数变化,然后稳定为一定值;湿度会影响指腹与被抓持物体之间的黏着力,从而影响抓持的最大静摩擦力;潮湿时黏着力最大,抓取表面光滑物体最省力且不易打滑;湿度对最大静摩擦系数的影响是非线性的,最大静摩擦系数随湿度的增加而增加,到达峰值后逐渐减小.
To explore how moisture and grasping force affect static friction force when a person grasped a smooth object,a new equipment,capable of measuring deformation,grasping force and static friction force of a finger pad when the object’s weight continuously changed,was developed in this study.Using this equipment,the deformation and maximum static friction coefficient were measured and analyzed as the moisture and the object’s weight were varied.The adhesion force between the finger pad and the smooth object was assessed by the finger pad deformation,thereby analyzing the effect mechanism of moisture on the maximum static friction coefficient.The results revealed that the maximum static friction coefficient decreased according to the law of negative power function as the grasping force got larger,and then leveled off at a certain grasping force.Moisture affected the adhesion force between the finger pad and the smooth object,further affecting the maximum static friction force.The adhesion force value was greatest when contact surface was medium moisture content,which was the most labor-saving and difficult to slip when grasping smooth object.Besides,the effect of moisture on the maximum static friction coefficient was nonlinear.The maximum static friction coefficient showed a peak value at a certain moisture content.
作者
陈强
郭士杰
甘中学
CHEN Qiang;GUO Shijie;GAN Zhongxue(State Key Laboratory of Reliability and Intelligence of Electrical Equipment,Hebei University of Technology,Tianjin 300130,China;Hebei Key Laboratory of Robot Perception and Human-Robot Interaction,Tianjin 300130,China;School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China;Academy for Engineering&Technology,Fudan University,Shanghai 200433,China)
出处
《摩擦学学报》
EI
CAS
CSCD
北大核心
2020年第3期271-279,共9页
Tribology
基金
国家重点研发计划政府间国际科技创新合作重点专项项目(2016YFE0128700)资助.
关键词
指腹
光滑表面
摩擦
湿度
抓持力
黏着力
finger pad
smooth surface
friction
moisture
grasping force
adhesion force
作者简介
通讯作者:郭士杰,E-mail:guoshijie@hebut.edu.cn,Tel:+86-15522035068.
