Analysis of the effect of system parameters for combined nonlinear cable elongation characteristics in CDPR

Abstract

The polymer cable is a widely used material in the cable-driven parallel robot (CDPR) system because of its many advantages such as high sensitivity, large workspace and so on. However, the accurate control of CDPR is not easy because of complicated response of the cable. In our previous study, the integrated cable model was derived. Based on the model, parametric studies were progressed in this paper. While operating CDPR, various parameters such as length, applied tension, and tensile rate can be changed and dominantly affect the dynamics of CDPR. For this reason, parametric study was based on these parameters. In this investigation, dynamic creep, hardening factor and short-term recovery were saturated as processing cyclic load. Each saturation rate was dominantly influenced by cable length and applied tension. As the tensile rate was increased, the dynamic creep was decreased. The hysteresis was the characteristic combining all of dynamics. So, the hysteresis also had saturation trends. When the exerted tension was decreased, the length of cable could be reduced or elongated because the creep and recovery occur at the same time.