Measurement of Backlash and Fatigue Wear of PEEK Bush in Robot Joint under Middle Load

Author:

Koike Hitonobu1,Itakura Kiyoto1,Okazaki Shota1,Takamiya Masahiro1,Kanemasu Kenji2,Kida Katsuyuki3

Affiliation:

1. Kyushu University

2. Yoshinori Industry

3. University of Toyama

Abstract

In order to establish the application possibilities in transmission parts in humanoid robot joints, wear of reinforced poly-ether-ether-ketone (PEEK) polymer bushes in friction against 7075 aluminium alloy cam plates is investigated. Additionally the transmission error (backlash) in robot joint was measured. The PEEK bush wear requires close examination as well as the input axis-output axis transmission error. Fatigue wear tests were performed on bushes under middle load at 3000 rpm motor speeds, while the cam plate oscillated in the humanoid robot leg joint evaluation system under 1300 kgfcm (132 Nm) load torque. The robot joint using PEEK bush achieved stable small backlash due to good friction perforance.

Publisher

Trans Tech Publications, Ltd.

Cited by 3 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Deformable Morphing and Multivariable Stiffness in the Evolutionary Robotics;International Journal of Automotive Manufacturing and Materials;2023-10-24

2. Prolonging Robot Lifespan Using Fatigue Balancing with Reinforcement Learning;2022 7th International Conference on Mechanical Engineering and Robotics Research (ICMERR);2022-12-09

3. Method for Robot Manipulator Joint Wear Reduction by Finding the Optimal Robot Placement in a Robotic Cell;Applied Sciences;2021-06-10

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