FRICTION BETWEEN CYLINDRICAL OBJECTS AND PREHENSION ELASTOMER FINGERS

Abstract

The human prehension systems realized by two ore more fingers are important inspiration sources for development of the performed actuators, especially for prehension of the small objects. In the contact between the fingers and the small objects the adhesion and skin deformation are essentially for a good and precision prehension. Based on the human finger configuration was realized from elastomer artificial fingers to be used in the prehension systems of the robots. In the present paper authors included the methodology to determine the friction forces and friction coefficient between cylindrical objects and an artificial finger. Also, some friction forces and friction coefficients obtained by experiments between elastomer fingers and cylindrical objects have been presented.