Static friction of litchi stalk/clamp head contact: Comparing material,clamp texture and stalk diameter

The static friction characteristic was investigated in the case of litchi picker's clamp heads made of PVC plastic, silicone and rubber, carved with textures of circular, sawtooth, plain and grid, when in contact with litchi stalks. An experimental device was developed and used to measure the static coefficient of friction between a flat surface and cylinder. Clamp heads made of rubber were found to have the biggest static coefficient of friction, and clamp heads made of PVC plastic were found to have the smallest static coefficient of friction. Clamp heads carved with circular texture were found to have the biggest static coefficient of friction, and clamp heads carved with grid texture were found to have the smallest static coefficient of friction. And for specimens of different sizes, the bigger the diameter, the bigger the static coefficient of friction. Results suggest that the best clamp heads for a litchi picker are made of rubber, carved with circular texture, and a bigger clamping force is required to pick smaller stalks.