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ミネシタ ヒロキ
Mineshita Hiroki 峯下 弘毅 所属 神奈川大学 工学部 機械工学科 職種 助教 |
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| 言語種別 | 英語 |
| 発行・発表の年月 | 2022/09 |
| 形態種別 | 学術雑誌 |
| 査読 | 査読あり |
| 標題 | Energy Efficiency Improvement of a Robotic Finger with Ultra High Molecular Weight Polyethylene Gear |
| 執筆形態 | 共著 |
| 掲載誌名 | IEEE Access |
| 掲載区分 | 国外 |
| 出版社・発行元 | IEEE |
| 巻・号・頁 | 10,pp.100033-100040 |
| 著者・共著者 | ◎TAKUYA OTANI, HIROKI MINESHITA, KEIGO MIYAZAWA, YURI NAKAZAWA, HIDEYUKI KASUGA, RYUKI KAWAI, AND ATSUO TAKANISH |
| 概要 | Improving energy efficiency of robots is an important issue for diffusion of robots in society. For reducing the energy consumption of robots, we focused on the gear weight and friction during drive, and investigated Ultra High Molecular Weight Polyethylene (UHMW-PE) for the robot joints as a lightweight, low friction, and high impact strength material. A simple UHMW-PE gear has already been proposed, and the friction and wear reduction effects of the gear alone have been verified. However, the energy efficiency improvement has not been investigated. We designed UHMW-PE gears for comparing to the conventional metal (CAC502) gear. Each gear was incorporated into a humanoid robot finger joint, and the energy consumption when the finger bended was compared. The UHMW-PE gear with excellent self-lubrication reduced energy consumption in the robot finger by around 3%. |
| DOI | 10.1109/ACCESS.2022.3207752 |
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