CONTROLO 2016 pp 495-505 | Cite as

Behavior of the Elastomers Used in Prehension Systems for Small Cylindrical Objects

  • Vlad Cârlescu
  • Mihai Adrian Rusu
  • Gheorghe Prisăcaru
  • Emanuel Miron
  • José Machado
  • Dumitru OlaruEmail author
Conference paper
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 402)


To use the elastomers as a interfacial surface in the prehension systems, the authors experimentally determined the elastic deformation and sliding friction of a plane elastomer sample in contact with small steel roller for normal loads up to maximum 9 N and linear speed of 0.1 mm/s. The experiments were realized on a Tribometer CETR UMT 2, by using two procedures: firstly was determined the Young’s modulus of the elastomer by indentation with a steel roller with normal loads between 1 and 9 N and secondly was determined the friction forces in sliding of the steel roller on elastomer sample with normal loads between 1 and 5 N. On contact surfaces was experimentally determined the total friction force including both elastic deformation force and sliding force. Also, an analytical model for friction force has been developed.


Friction Elastomers Sliding motion Adherence Friction coefficient 


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Copyright information

© Springer International Publishing Switzerland 2017

Authors and Affiliations

  • Vlad Cârlescu
    • 1
  • Mihai Adrian Rusu
    • 1
  • Gheorghe Prisăcaru
    • 1
  • Emanuel Miron
    • 1
  • José Machado
    • 2
  • Dumitru Olaru
    • 1
    Email author
  1. 1.Department of Mechanical Engineering, Mechatronics and RoboticsThe „Gheorghe Asachi” Technical University of IasiIasiRomania
  2. 2.Department of Mechanical EngineeringUniversity of MinhoBragaPortugal

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