Ni Jing, Ren Xu, Zheng Junqiang
School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou, 310018, China.
Sensors (Basel). 2020 Feb 14;20(4):1044. doi: 10.3390/s20041044.
The friction and wear of flexible cables are the main factors that cause electrical breakdown and insulation aging, and they greatly reduce the reliability and safety of robots. In order to enhance the reliability and safety of the robot, it is of great necessity to investigate the friction and wear mechanisms of the flexible cable. In this research, the friction and wear mechanisms have been discussed. The effects of relative speed, ambient temperature, and positive pressure on the flexible cables are considered by an orthogonal frictional movement. The cable friction force has been measured by a piezoelectric sensor with high natural frequency characteristics. The relations among friction and different factors affecting friction have also been discussed. The results show that the relative speed and the ambient temperature are the main factors affecting the friction and wear of the cable; the main form of flexible cable wear is mechanical-force chemical friction and wear. Those discoveries will greatly deepen the understanding of the friction and wear mechanisms of flexible cables, and will be beneficial to robot cable-reliability design.
柔性电缆的摩擦与磨损是导致电气击穿和绝缘老化的主要因素，它们会大大降低机器人的可靠性和安全性。为提高机器人的可靠性和安全性，深入研究柔性电缆的摩擦磨损机制十分必要。在本研究中，对摩擦磨损机制进行了探讨。通过正交摩擦运动考虑了相对速度、环境温度和正压力对柔性电缆的影响。采用具有高固有频率特性的压电传感器测量电缆摩擦力。还讨论了摩擦与影响摩擦的不同因素之间的关系。结果表明，相对速度和环境温度是影响电缆摩擦磨损的主要因素；柔性电缆磨损的主要形式是机械力化学摩擦磨损。这些发现将极大地加深对柔性电缆摩擦磨损机制的理解，并有助于机器人电缆可靠性设计。
