The robot joint lubrication with ultra-thin hyperelastic superficial layers

• Autorzy: Wierzcholski K. , Miszczak A.

Identyfikatory

DOI

10.5604/12314005.1216493

• Języki publikacji: EN

Abstrakty

EN

The surface of humanoid robots is more or less deformable metal and plastic replica of human body. An advanced humanoid robot has human like behaviour – it can talk, run, jump or climb stairs in a very similar way a human does. Hence follows that operation of construction of the robots artificial joints to be similar for biological joints activities. This fact requires applying proper as well corresponding soft solid materials, and specific lubricants. To the interesting phenomena belong the fact, that as well the surfaces of an articular cartilage human joint as the soft surfaces of the robot joints, coated with ultra-thin hyperelastic multi-layers, plays an important role in the surface active lubrication, relative small friction forces and wear during the human limb or robot body activities in the movement. The presence of the ultra-thin hyperelastic layers consisting the soft bearing materials including hyperelastic nano-particles during the robot bearing lubrication enables to indicate numerous positive effects among other the decreases the friction coefficient values. Therefore, the results obtained in this paper may be applicable during the joint-endo-prosthesis or artificial joint design in new humanoid robots, where instead cartilage and synovial fluid are applied new soft materials with active hyperelastic micro- and nano- particles. In this paper is shortly presented the mathematical model of hydrodynamic lubrication of thin boundary layer describing the robot joint. Mathematical model in 3D for lubricant consists of three equations of motion, continuity equation, conservation of energy equation and Young-Kelvin-Laplace equation describing the thin layer interfacial energy.

Słowa kluczowe

EN

robot joint lubrication; various curvilinear hyperactive thin; soft layer shapes; basic hydrodynamic equations; physical models; humanoid robot

• Wydawca: Łukasiewicz Research Network - Institute of Aviation ; European Science Society of Powertrain and Transport KONES Poland ; Wydawnictwo Instytutu Technicznego Wojsk Lotniczych
• Czasopismo: Journal of KONES
• Rocznik: 2016
• Tom: Vol. 23, No. 3
• Strony: 555--562
• Opis fizyczny: Bibliogr. 9 poz., rys.

Twórcy

autor

Wierzcholski K.

• Technical University of Koszalin, Faculty of Technology and Education Śniadeckich Street 2, 75-453 Koszalin, Poland tel.: [phone], fax: [phone]

autor

Miszczak A.

• Gdynia Maritime University, Faculty of Marine Engineering Morska Street 81-87, 81-225 Gdynia, Poland tel.: [phone], fax: [phone]

Bibliografia

• [1] Andersen, O. S., Roger, E., et al., Bilayer thickness and Membrane Protein Function: An Energetic Perspective, Annular Review of Biophysics and Bimolecular Structure, 36 (1), pp. 107-130, 2014.
• [2] Arkin, R. C., Behaviour-Based Robotics, MTP Press, Cambridge 1998.
• [3] Asada, H., Slotine, J.-J. E., Robot Analysis and Control, Willey, Cambridge 1986.
• [4] Carpenter, J., Davis, J., Erwin-Stewart, N., Lee, T., Bransford, J., Vye, N., Gender representation in humanoid robots for domestic use, International Journal of Social Robotics (special issue), 1(3), pp. 261-265, 2009.
• [5] Chagnon, G., Rebouah, M., Favier, D., Hyperelastic Energy Densities for Soft Biological Tissues, Review, Journal of ElasticityM, Evaluation of hyperelastic models for the non-linear and non-uniform high strain-rate mechanics, Vol. 120, Is. 2, pp. 129-160, 2015.
• [6] Deneveth, J. M., McLean, S. G., Arruda, E., Cs of tibial cartilage, J. of Biomech., Jun 21, 46(10), 1604-10, 2013.
• [7] Mashaghi, A., et al., Hydration strongly affects the molecular and electronic structure of membrane phospholipids, J. Chem. Phys., 136, 114709, 2012.
• [8] Pawlak, Z., Urbaniak, W., Hagner-Derengowska, M. W., The probable explanation for the low friction of natural joints, Cell Biochemistry and Biophysics, Vol. 71, 3, pp. 1615-1621, 2015.
• [8] Pawlak, Z., Urbaniak, W., Gadomski, A., Yusuf, K. Q., Afara, I. O., Oloyede, A., The role of lamellate phospholipid bilayers in lubrication of joints, Acta of Bioengineering and Biomechanics, Vol. 14, No. 4, pp. 101-106, 2012.
• [9] www.spectrum.ieee.org/automaton/robotics/humanoids/new-r5-valkyrie-robots, 06.2016.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.