Abstract
In this study, the concept of a self-repairing wire for tendon-driven robots was proposed. A wire in a tendon-driven robot is worn by friction between the tendon and pulley and also between the tendon and guide rail. A worn tendon may lead to breakage of the tendon and makes it difficult to control the robot. In this study, a method to continuously protect the wire surface was proposed to inhibit tendon abrasion. A polymer layer was formed around the catalyst by coating the surface of the wire with a catalyst and supplying liquid resin to the surface. The layer protected the wire from abrasion and the wire re-formed itself when it was worn by abrasion. Specifically, when the wire was abraded, the catalysts reacted with the liquid resin to re-form the coating. In the study, three experiments were conducted and the results confirmed that the wire was protected from abrasion by re-coating itself.
| Original language | English |
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| Title of host publication | 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 743-748 |
| Number of pages | 6 |
| ISBN (Electronic) | 9781509043644 |
| DOIs | |
| Publication status | Published - 2017 Feb 27 |
| Event | 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China Duration: 2016 Dec 3 → 2016 Dec 7 |
Other
| Other | 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 |
|---|---|
| Country/Territory | China |
| City | Qingdao |
| Period | 16/12/3 → 16/12/7 |
ASJC Scopus subject areas
- Hardware and Architecture
- Artificial Intelligence
- Control and Systems Engineering