Development of a tendon-driven mechanism with liquid circulation system for improving wear resistance

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

Abstract

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.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1670-1675
Number of pages6
Volume2018-January
ISBN (Electronic)9781538637418
DOIs
Publication statusPublished - 2018 Mar 23
Event2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China
Duration: 2017 Dec 52017 Dec 8

Other

Other2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
CountryChina
CityMacau
Period17/12/517/12/8

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering
  • Control and Optimization
  • Modelling and Simulation

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