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Input-State-Output Representations of Concatenated 2D Convolutional Codes Read chapter Read first chapter

2017 | OriginalPaper | Chapter

Behavior of the Elastomers Used in Prehension Systems for Small Cylindrical Objects

Authors : Vlad Cârlescu, Mihai Adrian Rusu, Gheorghe Prisăcaru, Emanuel Miron, José Machado, Dumitru Olaru

Published in: CONTROLO 2016

Publisher: Springer International Publishing

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Abstract

To use the elastomers as a interfacial surface in the prehension systems, the authors experimentally determined the elastic deformation and sliding friction of a plane elastomer sample in contact with small steel roller for normal loads up to maximum 9 N and linear speed of 0.1 mm/s. The experiments were realized on a Tribometer CETR UMT 2, by using two procedures: firstly was determined the Young’s modulus of the elastomer by indentation with a steel roller with normal loads between 1 and 9 N and secondly was determined the friction forces in sliding of the steel roller on elastomer sample with normal loads between 1 and 5 N. On contact surfaces was experimentally determined the total friction force including both elastic deformation force and sliding force. Also, an analytical model for friction force has been developed.

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Metadata
Title
Behavior of the Elastomers Used in Prehension Systems for Small Cylindrical Objects
Authors
Vlad Cârlescu
Mihai Adrian Rusu
Gheorghe Prisăcaru
Emanuel Miron
José Machado
Dumitru Olaru
Copyright Year
2017
Book
CONTROLO 2016

Print ISBN: 978-3-319-43670-8

Electronic ISBN: 978-3-319-43671-5

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-43671-5_42