Zhang Tengfei, Su Jie, Ke Liaoliang, Bai Sichun, Yu Guojun
School of Mechanical Engineering, Tianjin University, Tianjin 300350, China.
National Key Laboratory of Vehicle Power System, Tianjin 300350, China.
Materials (Basel). 2025 Aug 18;18(16):3861. doi: 10.3390/ma18163861.
A textured surface can significantly enhance the tribological properties of a robotic soft gripper in wet environments. However, external disturbances such as wind, sound waves, water flow, and mechanical vibrations often lead to fretting contact on the soft gripper's surface. This article imitates the toe pad texture of tree frogs, renowned for their strong climbing abilities, to prepare silicone rubber films with hexagonal textures of different sizes and experimentally studies their fretting behavior under both deionized water and silicone oil wetting conditions. The effects of texture size, normal force, wetting condition, displacement amplitude, and frequency on the fretting behaviors of silicone rubber films are discussed in detail. The results indicate that textured surfaces significantly enhance the coefficient of friction (COF) of silicone rubber under wetting conditions with a small normal force and high frequency. Furthermore, the larger the texture size, the more noticeable the increase in COF.
有纹理的表面可以显著提高机器人软夹爪在潮湿环境中的摩擦学性能。然而，诸如风、声波、水流和机械振动等外部干扰常常导致软夹爪表面产生微动接触。本文模仿以强大攀爬能力著称的树蛙的趾垫纹理，制备了具有不同尺寸六边形纹理的硅橡胶薄膜，并通过实验研究了它们在去离子水和硅油润湿条件下的微动行为。详细讨论了纹理尺寸、法向力、润湿条件、位移幅值和频率对硅橡胶薄膜微动行为的影响。结果表明，在小法向力和高频的润湿条件下，有纹理的表面显著提高了硅橡胶的摩擦系数（COF）。此外，纹理尺寸越大，COF的增加就越明显。
