Development of a Tactile Sensor to Measure Tire Friction Coefficients in Arbitrary Directions
Taisei Ise*, Masahiro Higuchi**, and Hiroshi Tachiya**
*Graduate School of Natural Science and Technology, Kanazawa University, Kakuma-machi, Kanazawa-shi, Ishikawa 920-1192, Japan
**Faculty of Mechanical Engineering, Institute of Science and Technology, Kanazawa University, Kakuma-machi, Kanazawa-shi, Ishikawa 920-1192, Japan
In order to develop intelligent tires that measures road surface friction coefficients, the present study proposes a simple tactile sensor that measures threedimensional loads. The sensor is composed of a cantilever called a whisker that is fixed to a base. The base is an elastic plate that has three strain gauges attached to its surface equiangularly around the fixed point of the whisker. The whisker is covered in cylindrical rubber, and the bottom surface is used as a contact. When the sensor touches a surface with the contact and traces it, vertical and horizontal loads are applied to the contact, compressing and bending the whisker so that the base is deformed elastically. Strains induced on the base by this deformation are measured by strain gauges. The study proposes a method obtaining values of vertical load, horizontal load and its direction from measured strains. Accordingly, the proposed sensor measures threedimensional load and obtains the contact surface friction coefficient. In the study, we fabricate a tactile sensor prototype and show its feasibility.
-  O. Yilmazouglu, M. Brandt, J. Sigmund, E. Genc, and H. L. Hartnagel, “Integrated InAs/GaSb 3D Magnetic Field Sensors for the Intelligent Tire” Sensors and Actuators A, Vol.94, pp. 1269-1276, 2001.
-  R. Matsuzaki, T. Keating, A. Todoroki, and N. Hiraoka, “Rubberbased Strain Sensor Fabricated Using Photolithography for Intelligent Tires,” Sensors and Actuators A, Vol.148, pp. 1-9, 2008.
-  N. Hiraoka, R. Matsuzaki, and A. Todoroki, “Concurrent Monitoring of In-plane Strain and Out-of-plane Displacement of Tire Using Digital Image Correlation Method,” Journal of Solid Mechanics and Materials Engineering, Vol.3, No.11, pp. 1148-1159, 2009.
-  R. Matsuzaki, N. Hiraoka, A. Todoroki, and Y. Mizutani, “Optical 3D Deformation Measurement Utilizing Non-planar Surface for the Development of an Intelligent Tire,” Journal of Solid Mechanics and Materials Engineering, Vol.4, No.4, pp. 520-532, 2010.
-  H. Tachiya, Y. Sugiura, H. Nagase, T. Ise, C. Fujita, and K. Sawafuji, “Basic Study for a Tactile Sensor to Measure Tire Friction Coefficients,” Transactions of the Japan Society of Mechanical Engineers – Part C, Vol.78, No.787, pp. 852-862, 2012 (in Japanese).
-  S. Timoshenko and S. Woinowski-Krieger, “Theory of Plates and Shells, 2nd Ed.”, McGraw-Hill, New York, pp. 285-289, 1959.