Abstract
Cable-Constrained Synchronous Rotating Mechanism (CCSRM) has an important application prospect in the field of cable-driven robots, which can greatly reduce the number of driving motors while ensuring the light and slender body. However, there are obvious cable friction effect and elastic deformation in CCSRM. These nonlinear characteristics have a significant impact on synchronous motion performance. In this letter, a model of CCSRM considering cable friction is proposed, which integrates the effects of cable pretension, elastic deformation, and friction between cable and pulley on system characteristics. The distribution law of cable tension under the influence of friction force and the phenomenon of motion hysteresis caused in reverse rotation are emphatically discussed. Then, an improved LuGre friction model is proposed to solve the problem of line contact friction between cables and pulleys. Further a dynamic model of CCSRM is established to simulate the motion characteristics of the whole process, including the discontinuous friction phenomenon in reverse rotation. Finally, an experimental prototype of two-axis synchronous rotating system is built, and the friction coefficient is identified. The experimental results show that the dynamic model can well simulate the motion characteristics of CCSRM.
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