Basic Study for Drive Mechanism with Synthetic Fiber Rope: Development of a Tensioning Mechanism using a One-way Clutch and Hose Clamp

摘要

The utilization of synthetic fiber ropes in robot driving systems facilitates designs that are more lightweight and compact compared to their stainless steel counterparts. However, rope elongation during operation results in tension loss, necessitating a rope tensioning system to wind the rope and maintain adequate tension. We have previously proposed a tensioning mechanism wherein two shafts are coaxially connected via a one-way clutch, allowing rotation only in the direction of rope tension for fine-tuning the winding length. Nevertheless, this method subjects the one-way clutch to the full torque generated by rope tension. Consequently, if the torque exceeds the allowable limit during locomotion, the one-way clutch may sustain damage due to impact torque. To address this limitation, this study proposes a novel mechanism that integrates a one-way clutch and a hose clamp to enhance the load-bearing capacity of the tensioning mechanism. Furthermore, experimental result suggests that the allowable torque of the tensioner can be significantly increased by introducing a wire mesh between the hose clamp and the shaft, thereby augmenting the friction coefficient of the fastening component.