Robust Design of a Elastmeric Surface with Dimpled Pillar Pattern for Directional Friction of a Robot Gripper

Abstract

As robotics technology advances, the deployment of robots has surged across various industries, including traditional manufacturing and service sectors, such as restaurants and cafes. This trend has been pronounced since the coronavirus outbreak, with a significant increase in the use of robots equipped with grippers. Grippers must maintain reliable performance under diverse conditions, which are influenced by surface conditions affecting frictional force. Surface patterning can control friction and wear, optimizing gripping performance. However, research on surface patterning of robotic grippers is limited. In this study, we introduce the dimpled pillar pattern for directional friction (DPPDF) surface pattern, designed to enhance grip stability in dry, wet, and oily environments using elastomeric materials. The DPPDF integrates geometric characteristics of pillars and dimples to achieve directional friction. The Taguchi method was employed to determine optimal design parameters, and experiments were conducted to evaluate the performance of the DPPDF. The results indicated significant improvement in grip stability across various conditions, demonstrating the potential of DPPDF surfaces to enhance the versatility of robotic grippers in diverse applications.