Development of a tendon-driven mechanism with liquid circulation system for improving wear resistance
Development of a tendon-driven mechanism with liquid circulation system for improving wear resistance
复制标题
开发具有液体循环系统的腱驱动机构以提高耐磨性
DOI：
10.1109/robio.2017.8324658
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Shigeki Sugano
中科院分区：
文献类型：
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作者：
Shota Miyake;Shunsuke Nagahama;Shigeki Sugano
肌腱驱动机制具有许多优点，研究人员希望将这些机制应用于各个领域。相反，腱驱动机构具有一些缺点，例如由于线磨损对线张力的影响而难以控制和不适合于扩展使用应用。因此，这些机构在工业和护理机器人等需要长时间精确运动的应用中存在问题。在这项研究中，我们开发了一种新的机制，其中线耐磨性高，因为使用液体润滑和杂质去除过程的结合。这类似于人类肌腱驱动机制的运作方式。在我们的实验中，我们提出的机制，并评估了弯曲和拉伸操作的数量，可以实现之前发生断线。结果表明，与传统机制相比，耐磨性有所改善。
Tendon-driven mechanisms have many advantages and researchers expect to apply these mechanisms across various fields. Conversely, tendon-driven mechanisms have some disadvantages such as difficulty of control and unsuitability for extended use applications due to the impact of wire wear on wire tension. Therefore, these mechanisms have issues in applications such as industrial and nursing robotics, which require precise movement over long time periods. In this study, we developed a new mechanism wherein wire wear resistance is high because of the use of liquid lubrication and the incorporation of an impurity removal process. This is similar to how the tendon-driven mechanisms in humans operate. In our experiment, we produced the proposed mechanism and evaluated the quantity of bending and stretching operations that could be achieved before wire breakage occurs. The results showed an improvement in wear resistance over conventional mechanisms.