Measurement of fatigue and wear of PEEK bush and A7075 cam plate in humanoid robot joints

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

doi:10.1179/1432891713z.000000000363

Cited by 2 publications

(5 citation statements)

References 14 publications

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“…Most of the work relating to PEEK composites has been conducted in the lab using standard tribo-meters. For engineering use, some research has been carried out where PEEK composites form the tribological component, including ball bearings [8,24], thrust bearing [25], orthopaedic device [26] and crank shaft bush on the robot joint [27]. There is no work conducted towards journal bearing bushes made of PEEK composites.…”

Section: Introductionmentioning

confidence: 99%

PEEK Composites as Self-Lubricating Bush Materials for Articulating Revolute Pin Joints

2020

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In this study, bearing bushes made of polyetheretherketone (PEEK), 30 wt % carbon fibre reinforced PEEK, 30 wt % glass fibre reinforced PEEK, each 10 wt % of PTFE, graphite and carbon fibre modified PEEK were investigated on a purpose built pin joint test rig. The unlubricated friction and wear behaviour was assessed in sliding contact with a 300M shaft, subjected to a nominal pressure of 93 MPa, articulating sliding speed of 45 °/s. The worn surface and the subsurface layer were studied using optical profilometry and scanning electron microscopy (SEM). Due to thermal sensitivity of PEEK composites, friction energy and temperature rise were analysed for determining the friction and wear mechanism. The bush made of PTFE, graphite and carbon fibre (each 10 wt %) modified PEEK presented the best performance for friction coefficient, wear loss, friction energy and temperature rise. Current work demonstrated that reinforcement modified PEEK composite possesses desirable properties to perform as a load bearing bush in certain tribological applications.

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Section: Introductionmentioning

confidence: 99%

PEEK Composites as Self-Lubricating Bush Materials for Articulating Revolute Pin Joints

2020

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“…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]. Ultra high molecular weight polyethylene (UHMWPE) material was reported as one of good materials for machine components.…”

Section: Introductionmentioning

confidence: 99%

“…This link unit included three components; polymer bushes, a metal cam plate and a metal camshaft, and some materials of these components were investigated. 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].…”

Section: Introductionmentioning

confidence: 99%

“…The present joint system for humanoid robots consists of a motor (DC200W servomotor, SV23165DT-DE, Moog Inc.), a harmonic drive (SHD-17-100-2SH, Harmonic Drive Systems Inc.) and a reduction system. This system has advantages compared with a reduction unit using plain gears in terms of high output torque and high accuracy [1]. The input/output ratio from the original motor torque to the output axis of the reduction system is 1/100, i.e.…”

Section: Introductionmentioning

confidence: 99%

“…The details of the system are shown in ref. 1. The rotation speed of DC servomotor was 1000 rpm and the oscillation speed was 14 rpm.…”

Section: Introductionmentioning

confidence: 99%

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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 fatigue and wear of PEEK bush and A7075 cam plate in humanoid robot joints

Cited by 2 publications

References 14 publications

PEEK Composites as Self-Lubricating Bush Materials for Articulating Revolute Pin Joints

PEEK Composites as Self-Lubricating Bush Materials for Articulating Revolute Pin Joints

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

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