Experiment research on static and dynamic performance of precision cable-drum drive

Abstract

The elastic slip and extension of a cable are important problems for a precision cable-drum drive system. Adjusting the design parameters (preload force, payload and so on) is an effective way of improving transmission performance. At present, most researchers focus on sliding mechanisms, Euler’s equation improvement and engineering applications. The effect of design parameters on the transmission performance has not been deeply investigated. In this paper, the static and dynamic performance of a cable-drum drive system was explored for improving precision and response, and the effect of preload force and payload on the static and dynamic performance was analyzed. The static performance was evaluated by the transmission error, which was determined by measuring the rotational angle of input and output drum using SCANCON encodes. The dynamic performance was evaluated by the response bandwidth, which was determined by measuring the amplitude-frequency and phase-frequency curve of cable-drum drive system using TIRA GmbH vibration test system. The results show that the maximum transmission error is 0.75 mrad at a rotational range of 180° when the external torque is 0.19 N×m. The transmission error increases with the increase of the drum rotation angle. The transmission error increases with the increase of the preload force and external torque. The response bandwidth can reach 56 Hz when the payload inertia is 0.0145 kg×m2, which decreases with increase of payload inertia. However, the preload force has little obvious influence on the response bandwidth when the preload force is changed from 99.85 N to 496.99 N. These results are helpful for the design improvement and theory research of precision cable-drum drive system in future.