Modeling and Simulation of the Sliding Motion of a 3-D Soft Fingertip with Friction, Focusing on Stick-Slip Transition

摘要

We have proposed a dynamic model to investigate the sliding motion of a 3-dimensional soft fingertip on a plane with friction. The fingertip is comprised virtually of a finite number of elastic compressible and bendable cantilevers whose free ends act as infinitesimal contact points. The contact surface is afterward is meshed based on coordinates of contact points. By introducing Coulomb's law and contact compliance into each contact point, we are able to assess the frictional characteristic during sliding motions of the fingertip, especially stick-slip motions. We also present experimental results to validate this model.