Energy Efficiency Improvement of a Robotic Finger With Ultra High Molecular Weight Polyethylene Gear

Takuya Otani*, Hiroki Mineshita, Keigo Miyazawa, Yuri Nakazawa, Hideyuki Kasuga, Ryuki Kawai, Atsuo Takanishi

*この研究の対応する著者

研究成果: Article査読

抄録

Improving energy efficiency of robots is an important issue for diffusion of robots in society. For reducing the energy consumption of robots, we focused on the gear weight and friction during drive, and investigated Ultra High Molecular Weight Polyethylene (UHMW-PE) for the robot joints as a lightweight, low friction, and high impact strength material. A simple UHMW-PE gear has already been proposed, and the friction and wear reduction effects of the gear alone have been verified. However, the energy efficiency improvement has not been investigated. We designed UHMW-PE gears for comparing to the conventional metal (CAC502) gear. Each gear was incorporated into a humanoid robot finger joint, and the energy consumption when the finger bended was compared. The UHMW-PE gear with excellent self-lubrication reduced energy consumption in the robot finger by around 3%.

本文言語English
ページ(範囲)100033-100040
ページ数8
ジャーナルIEEE Access
10
DOI
出版ステータスPublished - 2022

ASJC Scopus subject areas

  • コンピュータ サイエンス(全般)
  • 材料科学(全般)
  • 工学(全般)
  • 電子工学および電気工学

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