TY - GEN
T1 - Development of a tendon-driven mechanism with liquid circulation system for improving wear resistance
AU - Miyake, Shota
AU - Nagahama, Shunsuke
AU - Sugano, Shigeki
N1 - Funding Information:
ACKNOWLEDGMENT This work was supported by JSPS KAKENHI Number 17K14631.
Publisher Copyright:
© 2017 IEEE.
PY - 2018/3/23
Y1 - 2018/3/23
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85049959085&partnerID=8YFLogxK
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U2 - 10.1109/ROBIO.2017.8324658
DO - 10.1109/ROBIO.2017.8324658
M3 - Conference contribution
AN - SCOPUS:85049959085
T3 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
SP - 1670
EP - 1675
BT - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Y2 - 5 December 2017 through 8 December 2017
ER -