Abstract
We proposed repairing method for the self-repairable joint of robot body. We adopted the copper-electroplating from three proposed methods (plating, self-assembled monolayers, and electro polymerization). We conducted two tests; evaluation test and abrasion test. In evaluation test, we established 3 criteria (adhesion, smoothing the surface, and decrease of friction force) to evaluate repair performance of the plating. In abrasion test, we made a system that supposed the joint, and tested abrasion and plating simultaneously. As a result of evaluation test, we confirmed that plating can repair the worn down surface. As a result of abrasion test, we confirmed that plating can repair the surface in the sliding portion.
