Measurement of Joint Element Transmission Error in a Humanoid Walking Robot

摘要

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.