Abstract
Natural vibrissae fulfill a lot of functions. Next to object distance detection and object shape recognition, the surface texture can be determined. Inspired by the natural process of surface texture detection, the goal is to adapt this feature by technical concepts. Modeling the vibrissa as an Euler–Bernoulli bending beam with a quasi-statically moving support and the vibrissa–surface contact with respect to Coulomb’s Law of Friction, a first approach was formed by the group of Behn and Steigenberger. Due to the motion of the support (pushing the vibrissa) and the surface contact, the vibrissa gets deformed. Firstly, the beam tip is sticking to the surface. The acting friction force prevents a movement of the beam tip until the maximal stiction is reached. The displacement of the support corresponds to changes in the acting forces and moments. Out of these changes the coefficient of static friction can be determined. The analytical results of Steigenberger and Behn are verified and validated by numerical simulations and an experiment.
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Scharff, M., Darnieder, M., Steigenberger, J., Behn, C. (2017). Towards the Development of Tactile Sensors for Determination of Static Friction Coefficient to Surfaces. In: Zentner, L., Corves, B., Jensen, B., Lovasz, EC. (eds) Microactuators and Micromechanisms. Mechanisms and Machine Science, vol 45. Springer, Cham. https://doi.org/10.1007/978-3-319-45387-3_4
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DOI: https://doi.org/10.1007/978-3-319-45387-3_4
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