Abstract
Synthetic fiber ropes, which are lightweight and have high tensile strength and exibility, have attracted attention as an alternative to stainless steel wire rope. This study clarifies various physical characteristics of synthetic fiber ropes to design a tendon-driven mechanism. This paper investigates a viscoelasticity model for Ultra High molecular weight Polyethylene (UHPE) rope and its dynamic property applied to a long distant antagonistic tendon-driven servo system. We confirm that UHPE can be modeled by four element model, and obtained its transfer function of a tendon-driven servo system. The validity of the transfer function was confirmed by a frequency response experiment.
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