适用于钢丝毛刷的非对称鬃毛模型及应用  

Asymmetric Bristle Model for Steel Brush and Its Application

作　　者：钟炜翔 金永斌 金肖玲[1] 鲍荣浩[1] 黄志龙[1] Weixiang Zhong;Yongbin Jin;Xiaoling Jin;Ronghao Bao;Zhilong Huang(School of Aeronautics and Astronautics,Zhejiang University,Hangzhou,310027)

机构地区：[1]浙江大学航空航天学院,杭州310000

出　　处：《固体力学学报》2024年第4期477-487,共11页Chinese Journal of Solid Mechanics

基　　金：国家自然科学基金项目(12132013)资助。

摘　　要：本文针对钢丝毛刷表现出的方向依赖性摩擦现象(非对称摩擦),提出了一种基于鬃毛模型和LuGre模型的非对称鬃毛模型,其摩擦力由非对称刷毛与被接触基底之间水平方向相互无摩擦接触产生的.数值模拟和实验研究表明:非对称鬃毛模型能很好地说明方向依赖性摩擦现象,并在平面双足机器人的仿真研究中发现,与对称摩擦模型相比,此模型能提高机器人最大运动速度.此外,实验研究表明钢丝毛刷相比于橡胶材质具有高摩擦、高耐磨等优势.基于这些特性,钢丝毛刷结构在足式机器人领域有着较大的应用前景和潜在优势.In this paper,an asymmetric bristle model based on the combination of bristle model and LuGre model is proposed to explain the direction-dependent friction(i.e.,asymmetric friction)phenome-non exhibited by steel brushes.In this model,friction is generated through the horizontal frictionless con-tact between asymmetric bristles and the contacted substrate.Numerical simulation and expreimental re-sults'demonstrate that the asymmetric bristle model can effectively illustrate the direction-dependent fric-tion phenomenon.Furthermore,in a simulation study of a planar biped robot,results show that applying this model can improve the maximum motion speed of the planar biped robot compared to using a symmet-ric friction model.Additionally,exmprimental resutls indicate that compared to rubber materials,steel brushes possess the advantages of high friction and abrasion resistance.Therefore,due to these propter-ties,steel brush structures may have great application prospects and potential benefits in the field of legged robotics.

关 键 词：非对称摩擦 鬃毛模型 LUGRE模型 平面双足机器人 

分 类 号：O313.5[理学—一般力学与力学基础] TP242[理学—力学]