MIT Libraries homeMIT Libraries logoDSpace@MIT

MIT
View Item 
  • DSpace@MIT Home
  • MIT Libraries
  • MIT Theses
  • Theses - Dept. of Mechanical Engineering
  • Mechanical Engineering - Bachelor's degree
  • View Item
  • DSpace@MIT Home
  • MIT Libraries
  • MIT Theses
  • Theses - Dept. of Mechanical Engineering
  • Mechanical Engineering - Bachelor's degree
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Designing anisotropic friction through limit curve analysis

Author(s)
Vasquez, Elizabeth Danielle.
Thumbnail
Download1130060195-MIT.pdf (4.794Mb)
Other Contributors
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Advisor
Alberto Rodriguez.
Terms of use
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. http://dspace.mit.edu/handle/1721.1/7582
Metadata
Show full item record
Abstract
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.
Description
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019
 
Cataloged from PDF version of thesis.
 
Includes bibliographical references (page 26).
 
Date issued
2019
URI
https://hdl.handle.net/1721.1/123249
Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Publisher
Massachusetts Institute of Technology
Keywords
Mechanical Engineering.

Collections
  • Mechanical Engineering - Bachelor's degree
  • Mechanical Engineering - Bachelor's degree

Browse

All of DSpaceCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

My Account

Login

Statistics

OA StatisticsStatistics by CountryStatistics by Department
MIT Libraries homeMIT Libraries logo

Find us on

Twitter Facebook Instagram YouTube RSS

MIT Libraries navigation

SearchHours & locationsBorrow & requestResearch supportAbout us
PrivacyPermissionsAccessibility
MIT
Massachusetts Institute of Technology
Content created by the MIT Libraries, CC BY-NC unless otherwise noted. Notify us about copyright concerns.