Page 5 - 《摩擦学学报》2020年第3期

第 40 卷 第 3 期 摩 擦 学 学 报 Vol 40 No 3
2020 年 5 月 Tribology May, 2020

DOI: 10.16078/j.tribology.2019200

人手指腹与光滑物体间的静摩擦力与

湿度和抓持力的关系

陈 强 1,2,3 , 郭士杰 1,2,3* , 甘中学 4

(1. 河北工业大学 省部共建电工装备可靠性与智能化国家重点实验室，天津 300130;
2. 河北省机器人感知与人机融合重点实验室，天津 300130;
3. 河北工业大学 机械工程学院，天津 300130;
4. 复旦大学 工程与应用技术研究院，上海 200433)

摘 要: 为了研究人手指抓持表面光滑物体时静摩擦力与湿度和抓持力的关系，在本研究中设计并制作了一种可在
被抓持物体的重量连续变化的条件下测量指腹变形、抓持力及摩擦力的装置. 在不同湿度和被抓持物体重量的条件
下测量并分析了指腹变形及其与表面光滑物体之间的最大静摩擦系数，通过指腹变形量度量指腹与被抓持物体之
间的黏着力，以此分析湿度对最大静摩擦系数的影响机理. 结果表明：最大静摩擦系数依存于抓持力，随抓持力的
增加先呈负幂函数变化，然后稳定为一定值；湿度会影响指腹与被抓持物体之间的黏着力，从而影响抓持的最大静
摩擦力；潮湿时黏着力最大，抓取表面光滑物体最省力且不易打滑；湿度对最大静摩擦系数的影响是非线性的，最
大静摩擦系数随湿度的增加而增加，到达峰值后逐渐减小.
关键词: 指腹; 光滑表面; 摩擦; 湿度; 抓持力; 黏着力
中图分类号: TH117 文献标志码: A 文章编号: 1004-0595(2020)03–0271–09

Influence of Moisture and Grasping Force on Static Friction
Force between Finger Pad and Object with Smooth Surface

1,2,3 1,2,3* 4
CHEN Qiang , GUO Shijie , GAN Zhongxue
(1. State Key Laboratory of Reliability and Intelligence of Electrical Equipment, Hebei
University of Technology, Tianjin 300130, China
2. Hebei Key Laboratory of Robot Perception and Human-Robot Interaction, Tianjin 300130, China
3. School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China
4. Academy for Engineering & Technology, Fudan University, Shanghai 200433, China)
Abstract: To explore how moisture and grasping force affect static friction force when a person grasped a smooth
object, a new equipment, capable of measuring deformation, grasping force and static friction force of a finger pad when
the object’s weight continuously changed, was developed in this study. Using this equipment, the deformation and
maximum static friction coefficient were measured and analyzed as the moisture and the object’s weight were varied.
The adhesion force between the finger pad and the smooth object was assessed by the finger pad deformation, thereby
analyzing the effect mechanism of moisture on the maximum static friction coefficient. The results revealed that the
maximum static friction coefficient decreased according to the law of negative power function as the grasping force got

Received 24 October 2019, revised 10 December 2019, accepted 27 December 2019, available online 28 May 2020.
*Corresponding author. E-mail: guoshijie@hebut.edu.cn, Tel: +86-15522035068.
The project was supported by the International Co-research Project on Innovative Technologies with Foreign Countries of the
National Key Research and Development Plan (2016YFE0128700).
国家重点研发计划政府间国际科技创新合作重点专项项目(2016YFE0128700)资助.