Abstract
Polymer is one of the most widely used cable materials in the CDPR system due to its light weight and low inertia. However, it is not easily to achieve high accuracy because of the complicated response of polymer cable while CDPR is operated. In our previous study, the integrated dynamics model of cable was derived with the visco-elastic model. With the integrated dynamics model of cable, the parametric studies were carried out for the cable length, the applied force and the tensile rate for various nonlinear cable elongation behaviors. At first, dynamic creep behavior was defined and investigated in CDPR system. Dynamic creep was saturated with one value as the cyclic load/unload is continuously carried out. The saturation number was inversely proportional to the cable length because of the residual stress. And as the tensile rate was increased, the dynamic creep was decreased linearly. In long-term recovery, the long-term recovery is finished more quickly for the case of a shorter cable.
Highlights
We investigated the dynamic characteristics of a Dyneema polyethylene SK78 cable using a tensile tester
The polymer cables used in cable-driven parallel robots (CDPRs) have complex dynamic characteristics, including nonlinear elongation, hysteresis, creep, and short- and long-term recovery
In the first and second section of this paper, we describe the experiment and integrated non-linear dynamic model
Summary
The parametric studies were based on tensile loading tests. We investigated the dynamic characteristics of a Dyneema polyethylene SK78 cable using a tensile tester. We applied forces of 100 N to the cables. As the end-effector pose is changed, the length of cable is changed. It is necessary to investigate the length effect of cable. We used the two kinds of cable lengths (100 mm and 300 mm). Constant tensile rates corresponding to CDPR speed are based on the 3 mm/min and 50 mm/min. We measured a long-term recovery after rest times of 24, 48 and 72 hours
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