Designing anisotropic friction through limit curve analysis

Friction is an essential component of robotic manipulation which is highly dependent on contact surfaces. In practical applications, these surfaces are often anisotropic, a property that has been known to produce interesting movements in nature and uncertainty in human applications. Therefore, control of anisotropic frictional surfaces could result in more precise movement in manipulation, locomotion, and other facets touched by frictional contact. To arrive at such controllability, frictional force was collected across a spectrum of anisotropic micro-textures, and a limit curve was generated. Experimental data was analyzed in accordance to friction laws such as limit curve and maximum-inequality principle (MPI). Qualitative observation and residual sum of squares (RSS) was used to detect lack of normality and non-convexity within each limit curve. This lack of both normality and convexity contradicts MPI and suggests that an alternative model is necessary. Additionally, the anisotropic frictional behaviors observed advances the feasibility of "designing" micro-textures capable of controllable anisotropic friction.

Name thesis:degree_name

Bachelor

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2019

Author dc:creator

• Vasquez, Elizabeth Danielle.

Advisor dc:contributor.advisor

• Alberto Rodriguez.

• Mechanical Engineering.

Statement dc:rights

• MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/123249

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/123249