ロボット用ブレーキの開発 : 第3報,製作・組立誤差と作動力の関係(機械要素,潤滑,工作,生産管理など)

概要

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We have already proposed a disk brake for robotic use in which the braking torque is generated both by PZT-actuator and solenoid. The action of the solenoid is transmitted to friction pads through a wedge mechanism. A prototype brake of total mass 1.2kg has been manufactured and realized 2.4 N・m braking torque. But braking torque of the prototype brake was sensitive to the manufacturing error of brake parts, and experiential fine tune-up was needed to realize such a large braking torque. In this paper, in order to make clear the relation between manufacturing error and brake application force, we proposed a contact model which can take into account of uneven contact with lower computing cost than FEM. Dynamic simulations with this proposed contact model and experiments have been carried out to investigate relationship between manufacturing error and brake application force. Based on these analyses, we proposed a method to minimize effects of manufacturing error on brake application force.
社団法人日本機械学会の論文
2006-11-25