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

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

3 Citations (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

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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