Asymmetric Bristle Model for Steel Brush and Its Application
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-sultsdemonstrate 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.
万方数据
维普
