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

Koike, Hitonobu; Itakura, Kiyoto; Okazaki, Saburo; Takamiya, Masahiro; Kanemasu, Kenji; Kida, Katsuyuki

doi:10.4028/www.scientific.net/amm.418.38

Cited by 4 publications

(3 citation statements)

References 20 publications

(14 reference statements)

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“…The results indicate that the lifetime of the PEEK depends on the counter body used in the tribo-system, with titanium worn the PEEK twice faster than the aluminum. Furthermore, the wear mechanism of PEEK against aluminum was attributed to the fatigue wear, while a reinforced PEEK (containing PTFE, graphite and carbon fibres) can form transfer film and serve as solid lubricant to slow down the wear of the PEEK [251][252][253]. Burris' group systematically investigated the wear and lubrication issues in articular cartilage [254].…”

Section: Fault Monitoring and Maintenance Of Evolutionary Robotsmentioning

confidence: 99%

Deformable Morphing and Multivariable Stiffness in the Evolutionary Robotics

Feng,

Xue,

et al. 2023

IJAMM

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Review Deformable Morphing and Multivariable Stiffness in the Evolutionary Robotics Huijuan Feng , Yahui Xue , Honggeng Li , Zhao Tang , Wenjin Wang , Zhenhua Wei , Guosong Zeng , Mingwu Li , and Jian S. Dai * Shenzhen Key Laboratory of Intelligent Robotics and Flexible Manufacturing Systems, Institute for Robotics, Southern University of Science and Technology, Shenzhen 518055, China * Correspondence: daijs@sustech.edu.cn Received: 8 October 2023 Accepted: 20 October 2023 Published: 24 October 2023 Abstract: This paper is to review and discuss the current state-of-the-art and future direction of the evolutionary robotics in its deformable morphing and multivariable stiffness. Structural morphing and shape morphing are the center piece of the deformable morphing and lead to the study of both reversible and irreversible deformabilities in morphing that form a basis for future evolutionary robotics. Having thoroughly reviewed the techniques, this paper reviews the science and technology in multivariable stiffness for evolutionary robotics particularly for reconfigurable evolutionary robots and their various applications. This leads to a review of dynamics with the model order reduction, and leads to a review of actuation strategy of metamorphic mechanisms that is a core of the structure of the evolutionary robotics. As such, the paper further reviews camera-based evolutionary robots with intelligent sensing, intelligent controlling and health monitoring, and then the real-time control of high-dimensional robots which cast light on tackling the evolutionary robot control, with the fault monitoring and maintenance. The paper in general presents the future prospects for the evolutionary robots in their deformable morphing and multivariable stiffness with the control of high-dimensional robots and their applications in intelligent infrastructure construction and maintenance.

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Section: Fault Monitoring and Maintenance Of Evolutionary Robotsmentioning

confidence: 99%

Deformable Morphing and Multivariable Stiffness in the Evolutionary Robotics

Feng,

Xue,

et al. 2023

IJAMM

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“…The deterioration of a gear appears at the teeth [20,21], harmonic drive gears are damaged by fatigue fractures [22], and bearings are typically subjected to failures at the rolling elements or the inner or outer race [21]. The damage accumulates over time and is caused mainly by load (forces and velocity) [23,24], high temperature [25], bad lubrication [26], or manufacturing defects. The performance, accuracy, and lifetime of a robot relies on the good condition of these critical components [27].…”

Section: The Concept Of Robot Wearmentioning

confidence: 99%

Method for Robot Manipulator Joint Wear Reduction by Finding the Optimal Robot Placement in a Robotic Cell

et al. 2021

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We describe a method for robotic cell optimization by changing the placement of the robot manipulator within the cell in applications with a fixed end-point trajectory. The goal is to reduce the overall robot joint wear and to prevent uneven joint wear when one or several joints are stressed more than the other joints. Joint wear is approximated by calculating the integral of the mechanical work of each joint during the whole trajectory, which depends on the joint angular velocity and torque. The method relies on using a dynamic simulation for the evaluation of the torques and velocities in robot joints for individual robot positions. Verification of the method was performed using CoppeliaSim and a laboratory robotic cell with the collaborative robot UR3. The results confirmed that, with proper robot base placement, the overall wear of the joints of a robotic arm could be reduced from 22% to 53% depending on the trajectory.

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“…For example, wear behavior between a PEEK-carbon composite bush, a cam plate and a clank shaft of 7075 aluminum alloy was studied [1]. The wear volume and backlash of the PEEK composite bush increased with the number of cycles during the walking simulation tests under low-middle loads/torque [2][3][4]. It was found that the wear particles of PEEK affect the backlash values in the joint system after a fatigue cycles of 1.0×10 4 [1].…”

Section: Introductionmentioning

confidence: 99%

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

Kida

Kawai

Mizobe

et al. 2016

KEM

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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.

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

Cited by 4 publications

References 20 publications

Deformable Morphing and Multivariable Stiffness in the Evolutionary Robotics

Deformable Morphing and Multivariable Stiffness in the Evolutionary Robotics

Method for Robot Manipulator Joint Wear Reduction by Finding the Optimal Robot Placement in a Robotic Cell

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

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