2026-09-21T07:07:11Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1232492021-07-05T14:03:20Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Alberto Rodriguez.
Vasquez, Elizabeth Danielle.
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2019-12-13T18:57:36Z
2019-12-13T18:57:36Z
2019
2019
https://hdl.handle.net/1721.1/123249
1130060195
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019
Cataloged from PDF version of thesis.
Includes bibliographical references (page 26).
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.
by Elizabeth Danielle Vasquez.
S.B.
S.B. Massachusetts Institute of Technology, Department of Mechanical Engineering
26 pages
eng
Massachusetts Institute of Technology
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
Mechanical Engineering.
Designing anisotropic friction through limit curve analysis
Thesis
application/pdf
2019-12-13T18:57:35Z
Publication
Bachelor
MechE
unknown
unknown
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<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.</Abstract>
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