Theoretical and experimental determination of capstan drive slip error

被引：68

作者：

Baser, Ozgur ^{[1
]}

Konukseven, E. Ilhan ^{[1
]}

机构：

[1] Middle E Tech Univ, Dept Mech Engn, TR-06531 Ankara, Turkey

来源：

MECHANISM AND MACHINE THEORY | 2010年 / 45卷 / 06期

关键词：

Cable/wire capstan drive; Cable/wire-based robot; Transmission error; Slip error; BENDING RIGIDITY; FRICTION; EQUATION;

D O I：

10.1016/j.mechmachtheory.2009.10.013

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Cable capstan drives are rotary transmission elements widely used in robot applications because of their low inertia, low backlash, high stiffness and simplicity. The cable in capstan drives is typically wrapped around the input and output drums in a figure-eight pattern and is the principle component for power transmission. In this paper an analytical method is developed for predicting the transmission error of capstan drives due to cable slippage on the drum so that designers can include this in the control phase of devices. The theoretical analysis was verified by experiments. (C) 2010 Elsevier Ltd. All rights reserved.

引用

页码：815 / 827

页数：13

共 17 条

[1] [Anonymous], 1998, Seu, US Patent, Patent No. [5,779,376, 5779376]
[2] Attaway S. W., 1999, INT TECHN RESC S
[3] BALL SJ, 2007, P 29 ANN INT C IEEE
[4] BEHZADIPOUR S, 2006, IND ROBOTICS THEORY, P964
[5] Ishii M., 1994, PRESENCE, V3, P81, DOI DOI 10.L162/PRES.1994.3.1.81
[6] Capstan equation including bending rigidity and non-linear frictional behavior
Jung, Jae Ho
Pan, Ning
Kang, Tae Jin
[J]. MECHANISM AND MACHINE THEORY, 2008, 43 (06) : 661 - 675
[7] Generalized capstan problem: Bending rigidity, nonlinear friction, and extensibility effect
Jung, Jae Ho
Pan, Ning
Kang, Tae Jin
[J]. TRIBOLOGY INTERNATIONAL, 2008, 41 (06) : 524 - 534
[8] Effect of bending rigidity on the capstan equation
Jung, JH
Kang, TJ
Youn, JR
[J]. TEXTILE RESEARCH JOURNAL, 2004, 74 (12) : 1085 - 1096
[9] Murcia, 2003, US Patent, Patent No. [6,565,173, 6565173]
[10] PERRY JC, 2006, BIOROB 2006

← 1 2 →