Development of a dipping wire method to improve the abrasion resistance of a plastic wire

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this study, the concept of a self-repairing wire for tendon-driven robots was proposed. A wire in a tendon-driven robot is worn by friction between the tendon and pulley and also between the tendon and guide rail. A worn tendon may lead to breakage of the tendon and makes it difficult to control the robot. In this study, a method to continuously protect the wire surface was proposed to inhibit tendon abrasion. A polymer layer was formed around the catalyst by coating the surface of the wire with a catalyst and supplying liquid resin to the surface. The layer protected the wire from abrasion and the wire re-formed itself when it was worn by abrasion. Specifically, when the wire was abraded, the catalysts reacted with the liquid resin to re-form the coating. In the study, three experiments were conducted and the results confirmed that the wire was protected from abrasion by re-coating itself.

Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages743-748
Number of pages6
ISBN (Electronic)9781509043644
DOIs
Publication statusPublished - 2017 Feb 27
Event2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China
Duration: 2016 Dec 32016 Dec 7

Other

Other2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
CountryChina
CityQingdao
Period16/12/316/12/7

Fingerprint

Tendons
Wear resistance
Wire
Plastics
Abrasion
Robots
Coatings
Catalysts
Resins
Pulleys
Liquids
Rails
Friction
Polymers

ASJC Scopus subject areas

  • Hardware and Architecture
  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Nagahama, S., Tanabe, J., & Sugano, S. (2017). Development of a dipping wire method to improve the abrasion resistance of a plastic wire. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 (pp. 743-748). [7866412] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2016.7866412

Development of a dipping wire method to improve the abrasion resistance of a plastic wire. / Nagahama, Shunsuke; Tanabe, Junichi; Sugano, Shigeki.

2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2017. p. 743-748 7866412.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nagahama, S, Tanabe, J & Sugano, S 2017, Development of a dipping wire method to improve the abrasion resistance of a plastic wire. in 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016., 7866412, Institute of Electrical and Electronics Engineers Inc., pp. 743-748, 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016, Qingdao, China, 16/12/3. https://doi.org/10.1109/ROBIO.2016.7866412
Nagahama S, Tanabe J, Sugano S. Development of a dipping wire method to improve the abrasion resistance of a plastic wire. In 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc. 2017. p. 743-748. 7866412 https://doi.org/10.1109/ROBIO.2016.7866412
Nagahama, Shunsuke ; Tanabe, Junichi ; Sugano, Shigeki. / Development of a dipping wire method to improve the abrasion resistance of a plastic wire. 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 743-748
@inproceedings{15f0b19456bf4219a84afb18f438a3c2,
title = "Development of a dipping wire method to improve the abrasion resistance of a plastic wire",
abstract = "In this study, the concept of a self-repairing wire for tendon-driven robots was proposed. A wire in a tendon-driven robot is worn by friction between the tendon and pulley and also between the tendon and guide rail. A worn tendon may lead to breakage of the tendon and makes it difficult to control the robot. In this study, a method to continuously protect the wire surface was proposed to inhibit tendon abrasion. A polymer layer was formed around the catalyst by coating the surface of the wire with a catalyst and supplying liquid resin to the surface. The layer protected the wire from abrasion and the wire re-formed itself when it was worn by abrasion. Specifically, when the wire was abraded, the catalysts reacted with the liquid resin to re-form the coating. In the study, three experiments were conducted and the results confirmed that the wire was protected from abrasion by re-coating itself.",
author = "Shunsuke Nagahama and Junichi Tanabe and Shigeki Sugano",
year = "2017",
month = "2",
day = "27",
doi = "10.1109/ROBIO.2016.7866412",
language = "English",
pages = "743--748",
booktitle = "2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
address = "United States",

}

TY - GEN

T1 - Development of a dipping wire method to improve the abrasion resistance of a plastic wire

AU - Nagahama, Shunsuke

AU - Tanabe, Junichi

AU - Sugano, Shigeki

PY - 2017/2/27

Y1 - 2017/2/27

N2 - In this study, the concept of a self-repairing wire for tendon-driven robots was proposed. A wire in a tendon-driven robot is worn by friction between the tendon and pulley and also between the tendon and guide rail. A worn tendon may lead to breakage of the tendon and makes it difficult to control the robot. In this study, a method to continuously protect the wire surface was proposed to inhibit tendon abrasion. A polymer layer was formed around the catalyst by coating the surface of the wire with a catalyst and supplying liquid resin to the surface. The layer protected the wire from abrasion and the wire re-formed itself when it was worn by abrasion. Specifically, when the wire was abraded, the catalysts reacted with the liquid resin to re-form the coating. In the study, three experiments were conducted and the results confirmed that the wire was protected from abrasion by re-coating itself.

AB - In this study, the concept of a self-repairing wire for tendon-driven robots was proposed. A wire in a tendon-driven robot is worn by friction between the tendon and pulley and also between the tendon and guide rail. A worn tendon may lead to breakage of the tendon and makes it difficult to control the robot. In this study, a method to continuously protect the wire surface was proposed to inhibit tendon abrasion. A polymer layer was formed around the catalyst by coating the surface of the wire with a catalyst and supplying liquid resin to the surface. The layer protected the wire from abrasion and the wire re-formed itself when it was worn by abrasion. Specifically, when the wire was abraded, the catalysts reacted with the liquid resin to re-form the coating. In the study, three experiments were conducted and the results confirmed that the wire was protected from abrasion by re-coating itself.

UR - http://www.scopus.com/inward/record.url?scp=85016816305&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85016816305&partnerID=8YFLogxK

U2 - 10.1109/ROBIO.2016.7866412

DO - 10.1109/ROBIO.2016.7866412

M3 - Conference contribution

SP - 743

EP - 748

BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

PB - Institute of Electrical and Electronics Engineers Inc.

ER -