柔軟薄型素材で被覆されたシリアルリンクの回転角度に対する封入液量の影響

抄録

This manuscript discussed the friction between a serial link and a flexible plastic film when the amount of contained liquid was changed. A serial link was packaged by using a vacuum packing machine. This packaged serial link was contained Fluorinert that was used as the lubricant to reduce the friction. We postulated that a flexible plastic film is a cantilever in order to understand easier. We found that the friction was stabilized when the amount of contained liquid was less than 80 ml, but the friction significantly decreased when it was more than 90 ml. These experimental results could be used as a guideline to select the servomotor of the serial link.