Backlash Evaluation of Hybrid UHMWPE-PEEK Bushes in a Small Robot Joint System

Abstract

In our previous work, we designed a new joint system for humanoid sized robot. This system consists of a servomotor, a harmonic drive and a link unit. This link unit includes three components; polymer bushes, a metal cam plate and a metal camshaft. However elastic deformation of all-polymer bushes can cause a large backlash in the system. In the present work, a new bush was developed and its fatigue behavior was investigated.