Influence of wear and backlash on machined PEEK polymer bushes and 7075 Aluminium alloy cam plates used in robot joints
Due to constant exposure to high torque and loads toughness, compressive durability and light weight of joint parts are crucial factors for biped walking humanoid robot parts. When polymer transmission parts are used for the manufacture of humanoid robot joint, wear becomes an important factor in terms of transmission error (backlash) between the input and output axes, ex. between the motor and the robots leg joint. In such joint system, a polymer bushes is directly connected to a cam plate, playing an important role in the robots movement ability. In this work, the influence of wear of reinforced poly-ether-ether-ketone (PEEK) polymer bushes in friction against 7075 aluminium alloy cam plates is investigated in order to establish the application possibilities in transmission parts in humanoid robots joint. The PEEK bush surface conditions as well as the input axis-output axis backlash require close examination, so that efficient systems can be built. Sliding wear tests were performed on bushes under 0-50kgfcm loaded torque while the cam plate oscillated. Based on the wear observation, it was found that in a high load range the backlash increased along with number of cycles due to PEEK bush wear. The bush surface roughness also increased during testing. Roughness of PEEK bush surface and the loaded torque for output axis were significantly related to backlash of output axis in robot joint.
Sliding wear backlash PEEK 7075 aluminium alloy robot joints
Hitonobu KOIKE Katsuyuki KIDA K.KANEMASU K.ITAKURA K.SARUWATARI J.ROZWADOWSKA M.URYU
Kyushu University 744 Motooka Nishi-ku Fukuoka 819-0395, Japan Yoshinori Industry 1-2-23 Owada Nishi-Yodogawa-ku Osaka 555-0032, Japan
国际会议
2011 International Conference on Mechatronics and Applied Mechanics(2011年机电一体化与应用力学国际会议 ICMAM 2011)
香港
英文
1178-1185
2011-12-27（万方平台首次上网日期，不代表论文的发表时间）