Measurement of Joint Element Transmission Error in a Humanoid Walking Robot

Kiyoto Itakura; Hitonobu Koike; Katsuyuki Kida; Kenji Kanemasu

doi:10.4028/www.scientific.net/AMR.566.348

Paper Titles

Design of Composite Brakes Using Knowledge-Based Design Methodology
p.324

Ultimate Strength Analysis for a Concrete Beam after a Sustained Building Fire
p.331

Building Three-Dimensional Merged Surface Model from Polygonal Models
p.336

Reliability Optimization Design for Mechanical Components
p.342

Measurement of Joint Element Transmission Error in a Humanoid Walking Robot
p.348

Modal Analysis of the Surface Grinding Machine Structure through FEM and Experimental Test
p.353

Design and Manufacture of Double-Ring Deployable Truss
p.357

A New Anti-Brake System Verification in Electric Vehicle Driven by Four Wheel Motors Based on GB 21670-2008
p.361

Study of Security of Virtual Host Based on XML
p.367

HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 566Measurement of Joint Element Transmission Error in...

Measurement of Joint Element Transmission Error in a Humanoid Walking Robot

Abstract:

In the present work, a prototype of a joint element to be used in lightweight and compact joints for tall humanoid robots is investigated. The newly developed element consists of a harmonic drive gearing device, a multi axis mechanism and a resin bush. Bushes produced from two kinds of bush materials: poly-ether-ether-ketone (PEEK) and polyacetal (POM) were tested. Furthermore, two testing machines to evaluate the joints were constructed: for the power input-output transmission error measurement and for the investigation of the influence of walking-load on bush wear.

You might also be interested in these eBooks

Machine Design and Manufacturing Engineering

View Preview

Info:

Periodical:

Advanced Materials Research (Volume 566)

Pages:

348-352

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.566.348

Citation:

Cite this paper

Online since:

September 2012

Authors:

Kiyoto Itakura, Hitonobu Koike, Katsuyuki Kida, Kenji Kanemasu

Keywords:

Backlash, PEEK, POM, Robot Joint, Sliding Wear

Export:

RIS, BibTeX

Price:

Permissions CCC:

Request Permissions

Permissions PLS:

Request Permissions

Сopyright:

Citation:

References

[1] N. Ito, H. Hasegawa: Robust Optimization of the Gait for a Biped Robot on External Factors, JSME, No. 08-35 (2008), pp.47-52.

Google Scholar

[2] C. Sabourin, O. Bruneau: Robustness of the dynamic walk of a biped robot subjected to disturbing external forces by using CMAC neural networks, Robotics and Autonomous Systems 51 (2005), p.81–99.

DOI: 10.1016/j.robot.2005.02.001

Google Scholar

[3] N. Shirokoshi: Studies of Influences of Geometrical Errors to Final Performances in Small Backlash Planetary Gears, JSME vol66-646 (2000).

Google Scholar

[4] T. Oguri: Backlash compensation of reduction gears by twin motor cooperative control 602 JSME 145-146 (2006).

Google Scholar

[5] K. Nagamura, T. Koumori: Driving Performance of High Reduction Planetary Gear Drive with Arc Tooth Profile and Pin, 123 JSME 103-106 No. 07-15 (2007).

DOI: 10.1115/detc2007-34245

Google Scholar

[6] K. Gotouda: Experimental Analysis about the Influence of Alignment Error on Transmission Error of Planetary Gears; JSME vol4 (2008), pp.37-38.

Google Scholar

[7] S. Yanabe: Torsional stiffness of Harmonic Drive Reducers, JSME, vol55-509 (1989), pp.216-221.

Google Scholar

[8] M. Hashimoto, I. Godler: Built-in High Accuracy Torque Sending For Harmonic Drive Gears, JRSJ, vol15-5 (1997), pp.802-806.

DOI: 10.7210/jrsj.15.802

Google Scholar

[9] Y. Kiyosawa: Introduction of Ultra Flat Strain Wave Gearing, JSME, No04-17 (2004), pp.76-79.

Google Scholar

[10] H. Koike, K. Kida, K. Kanemasu, K. Itakura, Justyna Rozwadowska and K. Saruwatari, Advanced Science Letters (ISSN: 1936-6612) (2012).

Google Scholar

[11] H. Koike, K. Kida, Edson Costa Santos, Justyna Rozwadowska, Y. Kashima, K. Kanemasu, Tribology International, (2012) doi: 10. 1016/j. triboint. 2011. 12. 005.

Google Scholar