This paper studied the characteristics of tribology in the gripper of a robot hand. The fictional resistance between several grooved rubber test pieces and an aluminum or PTFE (Poly Tetra Fluoric Ethylene) plate was measured with a reciprocating wear tester. Then, the grooved rubber test pieces were adhered to the surface of the robot hand gripper, and the frictional resistance between the rubber test pieces and the aluminum or PTFE plate was measured again. In order to prevent the object grasped by the gripper from dropping, we found the method which not only depends on a grasping force but also making more use of the frictional resistance on the surface of the gripper.
展开▼
