Analyzing and Predicting Interfacial Frictional States in Soft–Hard Contact via Tangential Displacement–Friction Force Relationships

IF 3.3 3区工程技术 Q2 ENGINEERING, CHEMICAL

Tribology Letters Pub Date : 2025-10-03 DOI:10.1007/s11249-025-02074-0

Jianhua Tang, Zhenglun Wang, Wei Li

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引用次数: 0

Abstract

The friction behavior between soft and hard materials has long been a crucial research subject in diverse fields, such as artificial joints, human skin contact, and robotic grasping. This study combines theoretical analysis with experimental exploration. By analyzing the variation in friction force and the characteristics of the sliding traces of silicone rubber materials during the entire friction process, it aims to delve into the frictional characteristics of soft–hard material interfaces. The results show that the sliding behavior at the soft–hard interface occurs before the peak of static friction. Through the approximation of a frictional theoretical model, the relationship between the friction force and the relative sliding distance at the interface is verified. Moreover, a method for predicting the interface frictional contact state and the relative sliding distance at the interface based on the friction force–tangential displacement curve is proposed. This research enhances our understanding of the friction mechanism at soft–hard interfaces and offers both theoretical support and practical guidance for the development of fine tactile feedback and dexterous manipulation systems in robotic grasping.

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基于切向位移-摩擦力关系的软硬接触界面摩擦态分析与预测

软硬材料之间的摩擦行为一直是人工关节、人体皮肤接触和机器人抓取等多个领域的重要研究课题。本研究将理论分析与实验探索相结合。通过分析硅橡胶材料在整个摩擦过程中摩擦力的变化和滑动轨迹的特征，探讨软硬材料界面的摩擦特性。结果表明：软-硬界面的滑动行为发生在静摩擦峰值之前；通过摩擦理论模型的近似，验证了摩擦力与界面处相对滑动距离的关系。此外，提出了一种基于摩擦力-切向位移曲线预测界面摩擦接触状态和界面相对滑动距离的方法。本研究增强了我们对软硬界面摩擦机理的认识，为机器人抓取中精细触觉反馈和灵巧操作系统的开发提供了理论支持和实践指导。

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来源期刊

Tribology Letters 工程技术-工程：化工

CiteScore

5.30

自引率

9.40%

发文量

116

审稿时长

2.5 months

期刊介绍： Tribology Letters is devoted to the development of the science of tribology and its applications, particularly focusing on publishing high-quality papers at the forefront of tribological science and that address the fundamentals of friction, lubrication, wear, or adhesion. The journal facilitates communication and exchange of seminal ideas among thousands of practitioners who are engaged worldwide in the pursuit of tribology-based science and technology.