Development of single-shaft joint mechanism imitating a cartilage cushioning
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ORIGINAL ARTICLE
Development of single‑shaft joint mechanism imitating a cartilage cushioning Takeshi Ikeda1 · Hidenobu Tanaka1 · Masanori Sato2 · Fusaomi Nagata1 · Seiji Furuno3 Received: 15 April 2020 / Accepted: 1 October 2020 © International Society of Artificial Life and Robotics (ISAROB) 2020
Abstract There is a labor shortage due to population decline, and robots are expected to work in human working spaces to address this problem. You need to protect your robot from disturbances that are difficult to predict from multiple directions. Therefore, we simply imitated the connector structure, including the cartilage of the human elbow joint, and incorporated it into the robot’s joints. What we considered was a single axis joint spring element. In this study, the effectiveness of spring elements was predicted using the computer-aided engineering (CAE) function of CAD software. Next, to verify the validity of the prediction results, we conducted a spin test on the motor shaft of the developed uniaxial joint and a destructive test on the frame. These two experimental results show that a single axis joint with a spring element can protect the motor shaft and frame under certain conditions. Keywords Joint mechanism · Single-shaft · Cartilage cushion · Robot arm
1 Introduction The labor population of 15–65 years old is on a declining. It is facing a serious labor shortage in Japan. To deal with this problem, robots are expected to be worked in a human working spaces. And there are many unintended disturbances in this space. A controller on software cannot have capable to the expected interference. Many robots are used electric motors as actuators. For this reason, motors are damaged, worn, or malfunction due to disturbances. This impact on the motor is a factor that significantly shortens the life of robots. When the software is abnormal or the power is turned off, electronic control cannot be fully guaranteed. In such a case, This work was presented in part at the 25th International Symposium on Artificial Life and Robotics (Beppu, Oita, January 22–24, 2020). * Takeshi Ikeda t‑[email protected] 1
Sanyo-Onoda City University, 1‑1‑1 Daigaku‑dori, Sanyoonoda, Yamaguchi, Japan
2
Nagasaki Institute of Applied Science, 536 Abamachi, Nagasaki, Nagasaki, Japan
3
National Institute of Technology, Kitakyushu College, 5‑20‑1 Shii, Kokuraminami, Kitakyushu, Fukuoka, Japan
if a strong impact is applied from the outside or the motor moves out of the movable range, the motor or the frame will be damaged. Many metals are used in the frames of robots that are actually used. This is because the metal is easy to manufacture, inexpensive, and gives the frame enough strength. However, many metal frames are heavier than other materials such as plastic. Therefore, it becomes the load of actuators. Also, since the weight of the entire robot increases, it is necessary to use larger and heavier motors for getting the high power output. The authors thought that these problems were one of the factors that hindered the pract
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