Cable Tension Research Articles

Low-Cost Cable-Driven Robot Arm with Low-Inertia Movement and Long-Term Cable Durability

Our study presents a novel design for a cable-driven robotic arm, emphasizing low cost, low inertia movement, and long-term cable durability. The robotic arm shares similar specifications with the UR5 robotic arm, featuring a total of six degrees of freedom (DOF) distributed in a 1:1:1:3 ratio at the arm base, shoulder, elbow, and wrist, respectively. The three DOF at the wrist joints are driven by a cable system, with heavy motors relocated from the end-effector to the shoulder base. This repositioning results in a lighter cable-actuated wrist (weighing 0.8 kg), which enhances safety during human interaction and reduces the torque requirements for the elbow and shoulder motors. Consequently, the overall cost and weight of the robotic arm are reduced, achieving a payload-to-body weight ratio of 5:8.4 kg. To ensure good positional repeatability, the shoulder and elbow joints, which influence longer moment arms, are designed with a direct-drive structure. To evaluate the design’s performance, tests were conducted on loading capability, cable durability, position repeatability, and manipulation. The tests demonstrated that the arm could manipulate a 5 kg payload with a positional repeatability error of less than 0.1 mm. Additionally, a novel cable tightener design was introduced, which served dual functions: conveniently tightening the cable and reducing the high-stress concentration near the cable locking end to minimize cable loosening. When subjected to an initial cable tension of 100 kg, this design retained approximately 80% of the load after 10 years at a room temperature of 24 °C.

Design of deployable mesh reflector antenna based on cable-dome tensegrity structure

In large-aperture deployable antennas, such as the AstroMesh antenna, the back-to-back arrangement of double-layer paraboloids can lead to size and weight exceeding the limits of the launch vehicle. To address this, a deployable mesh reflector antenna based on a cable-dome tensegrity structure, composed of tension cables and compression rods, is proposed. The structure and elementary unit of the cable-dome are presented, followed by the introduction of a W-deployable truss to meet the single-layer boundary node-hanging requirements. The geometric parameters and deployment kinematics are analyzed, leading to the optimization and simulation of a 50 m-aperture antenna. Compared to a same-aperture AstroMesh antenna, the cable-dome antenna offers a smaller folded size and weight. Finally, a 2 m-aperture prototype was constructed, and its feasibility verified through deployment experiments and surface accuracy photogrammetry. The proposed cable-dome antenna shows significant potential in large-aperture deployable antenna applications.

Cable Tension of Long-Span Steel Box Tied Arch Bridges Based on Radial Basis Function-Support Vector Machine Optimized by Quantum-Behaved Particle Swarm Optimization

Cable Tension of Long-Span Steel Box Tied Arch Bridges Based on Radial Basis Function-Support Vector Machine Optimized by Quantum-Behaved Particle Swarm Optimization

A comparative study on energy extraction potential of an elastically mounted rigid cylinder and infinitely tensioned cable using the wake oscillator model

The present study compares the vortex-induced vibration (VIV) response of an elastically mounted rigid cylinder (EMRC) and an infinitely tensioned cable (ITC) with regard to energy transfer from the incoming fluid flow to the structure. The response of the EMRC and the ITC under uniform flow is predicted using the wake oscillator model (WOM) for different mass ratios. The study then probed into the energy extraction potential of an EMRC and an ITC having equivalent mass ratios using the instantaneous energy, which gives a comprehensive understanding of the energy transferred from the fluid to the structure during the course of interaction. The energy conveyed from fluid to structure is dependent on the vortex lift force coefficient on the structure and the velocity of the structure. It is found that EMRC performs superior to an ITC from the energy extraction point of view.

Analytical Framework for Tension Characterization in Submerged Anchor Cables via Nonlinear In-Plane Free Vibrations

Submerged tensioned anchor cables (STACs) are pivotal components utilized extensively for anchoring and supporting offshore floating structures. Unlike tensioned cables in air, STACs exhibit distinctive nonlinear damping characteristics. Although existing studies on the free vibration response and tension identification of STACs often employ conventional Galerkin and average methods, the effect of the quadratic damping coefficient (QDC) on the vibration frequency remains unquantified. This paper re-examines the effect of bending stiffness on the static equilibrium configuration of STACs, and establishes the in-plane transverse free motion equations considering bending stiffness, sag, and hydrodynamic force. By introducing the bending stiffness influence coefficient and the Irvine parameter, the exact analytical solutions of symmetric and antisymmetric frequencies and modal shapes of STACs are derived. An improved Galerkin method is proposed to discretize the nonlinear free motion equations ensuring the accuracy and applicability of the analytical results. Additionally, this paper presents an analytical solution for the nonlinear free vibration response of the STACs using the improved averaging method, along with improved frequency formulas and tension identification methods considering the QDC. Through a case study, it is demonstrated that the improved methods introduced in this paper offer higher accuracy and wider applicability compared to the conventional approaches. These findings provide theoretical guidance and reference for the precise dynamic analysis, monitoring, and evaluation of marine anchor cable structures.

Unmanned Floating Object Transportation Applying Multiple Dynamic Positioning Tugboats: A Novel Cooperative Control Algorithm

Abstract To promote the automation and intelligence of marine floating object transportation, this paper proposes a cooperative consensus control algorithm for multiple unmanned dynamic positioning (DP) tugboats to transport an unactuated floating structure object using cables. The major concept of present algorithm is to implement a leader-follower formation strategy among distributed tugboats, with the aim of effectively maneuvering the object by adjusting the relative position between the virtual leader and the object in a reasonable manner. A cooperative consensus controller is integrated into the feedback controller of each tugboat local DP system in order to facilitate cooperative coordination among tugboats in a formation. A customized DP system, which incorporates the radial basis function neural network supervisor control into the DP controller design and introduces nonlinear disturbance observer into the low-frequency motion state observer design, is proposed to address cable tension disturbances, and thus, the tracking performance of the DP tugboat is improved. Full-scale nonlinear time domain simulations are performed under variable environmental conditions, verifying the effectiveness of the proposed automatic towing control scheme.

Numerical modeling of the effects of impact conditions, foundation stiffness, and cable pretension on the behavior of high-tension guard cable systems

Cable barriers are one type of road restraint system commonly used on highways across the United States to contain and redirect errant vehicles and to prevent crossover accidents. These systems are typically tested under the provisions from safety manuals considering standard crash conditions (e.g., vehicle speed and impact angle). To understand the performance of cable barriers, it is important to evaluate the effects of non-standard crash and system conditions, including various vehicle speeds, impact angles, foundation material stiffness, and cable pretension loads. For that purpose, we created a set of full-scale finite element models in LS-DYNA to assess the effects of these non-standard conditions on the performance of high-tension cable barrier systems. The results from the models show that soft soils and under-tensioned systems yield higher cable deflections. Moreover, the results indicate that speeding vehicles colliding at non-standard angles increase cable tensions by up to 91% and cable deflections by up to 318%. These findings highlight the importance of evaluating cable barrier performance under more severe scenarios, which could lead to system failure and more severe collision consequences.

Research on methods for controlling strand sag in main cables

The accuracy of main cable construction in suspension bridges is directly influenced by the sag of the strands during the erection process. Thus, effective methods for controlling strand sag are crucial. However, the current control standards and methods are primarily based on practical engineering experience, lacking quantitative analysis and a sufficient basis. This paper aims to address this gap by summarizing four commonly used strand sag control methods and proposing a quantitative analysis model that considers the influence of random factors. The model quantifies the impact of these methods on the main cable shape and strand tension after cable tightening. To illustrate the practical application, a suspension bridge is utilized as a case study. The results of the study illustrate a linear relationship between the main cable sag and inter-strand distance, with each control method exhibiting a varying linear change rate. Moreover, the discrepancy in strand distance contributes to uneven strand tension after cable tightening. Random errors contribute to the dispersion of the main cable sag and strand tension, which are further exacerbated by cumulative errors between layers of general strands. Based on the study’s results, this paper provides valuable references for the erection and control of the main cable in suspension bridges.

Experimental study of the tension forming model of a long-span string-supported spoke-type truss structure

This paper investigates the structural response of the long-span string-supported spoke-type (LSSS) truss structure during the tension forming process, as well as the influences of the errors caused by initial defects of the structure. A 1:10 scaled test model was designed and fabricated with reference to the main hall structure of the Northwest University gymnasium. The mesh simplification and scaling-down of the design of the prototype were performed to obtain a test model with good similarity to the prototype. Subsequently, after the comparative analysis of different tensioning batches, numbers of tensioning stages, and tensioning sequences, a radial-cable-forming scheme of three-stage, five-batch, clockwise tensioning for each ring cables was determined to be superior for this type of system. The cable force, node vertical displacement, and rod stress were monitored during the test. SAP2000 finite element software was employed to establish a numerical model, which was then verified by the test results. The test results were found to be in good agreement with the simulation results. The outer-ring cables withstood a larger share of the load, which could provide more stiffness support for the structure. During the tensioning process, the tensioning of the inner-ring cables would further increase the vertical displacement of the outer-ring roof nodes, which increased the compressive stress of the upper-chord-rods near the outer-ring. After the tensioning was completed, the lower-chord-rods in the mid-span and at the ends of the truss were in tension. Comparative analyses of the variations of the position and geometry, as well as the cable force, in each ring of cables during the construction process demonstrated that initial defects in the installation of the upper roof will lead to the uneven distribution of the radial cable forces, and that the errors will gradually accumulate with the advancement of the tensioning stage. However, after the structure was formed, the verticality deviation of most struts was close to or less than 1/150, and the error between the measured value and the simulated value of the rod stress was basically kept below 10 %, which proved the rationality of the tension scheme adopted in the test.

Deployment Dynamic Modeling and Driving Schemes for a Ring-Truss Deployable Antenna

Mesh reflector antennas are widely used in space tasks owing to their light weight, high surface accuracy, and large folding ratio. They are stowed during launch and then fully deployed in orbit to form a mesh reflector that transmits signals. Smooth deployment is essential for duty services; therefore, accurate and efficient dynamic modeling and analysis of the deployment process are essential. One major challenge is depicting time-varying resistance of the cable network and capturing the cable-truss coupling behavior during the deployment process. This paper proposes a general dynamic analysis methodology for cable-truss coupling. Considering the topological diversity and geometric nonlinearity, the cable network’s equilibrium equation is derived, and an explicit expression of the time-varying tension of the boundary cables, which provides the main resistance in truss deployment, is obtained. The deployment dynamic model is established, which considers the coupling effect between the soft cables and deployable truss. The effects of the antenna’s driving modes and parameters on the dynamic deployment performance were investigated. A scaled prototype was manufactured, and the deployment experiment was conducted to verify the accuracy of the proposed modeling method. The proposed methodology is suitable for general cable antennas with arbitrary topologies and parameters, providing theoretical guidance for the dynamic performance evaluation of antenna driving schemes.

Structural design and control strategy of a cable-driven robot under high-altitude facade conditions with large span and multiple constraints

Purpose This paper explores the challenges of using cable-driven parallel robots on high-altitude, large-span facades, where redundancy in multicable systems and the elastic deformation of the cables are significant issues. This study aims to improve the accuracy and stability of the work platform through enhanced control strategies. These strategies address the redundancy in multicable systems and reduce the risks associated with cable deformation and mechanical failures during large-span movements. Design/methodology/approach The paper proposes a dynamic model for a four-rope parallel robot designed explicitly for large-span applications. The study introduces a position–force control strategy incorporating kinematic inverse solutions and a rope dynamics model to account for rope elasticity and its effects. This approach increases the number of system equations to match the unknowns, effectively solving the redundancy problem inherent in multicable systems. In addition, the tension changes of ropes and the stability of the working platform are examined under different motion distances (X = 50 m and X = 100 m) and varying Young’s modulus values (K = 5000 MPa and K = 8000 MPa). Findings This study’s large-span rope force–position control strategy successfully resolves the typical nonlinear characteristics and external disturbances in multicable parallel systems. By continuously monitoring and adjusting cable tension and end positions, this strategy ensures precise control over each cable’s tension, optimizes the distribution of cable tensions and maintains the system’s stability and response speed. The analysis in this paper indicates that this control strategy significantly improves the motion accuracy of robots operating on large-span high-altitude facades. Practical implications Industry adoption: The design and control strategies developed for the four-cable-driven parallel robot can be adopted by companies specializing in facade maintenance, construction or inspection. This could lead to safer, more efficient and cost-effective operations, especially in challenging environments like high-rise buildings. Innovation in robotic solutions: The research can inspire innovation within the field of robotics, particularly in developing robots for specific applications such as large surface maintenance. It showcases how adaptive control and stability can be achieved in complex operational scenarios. Safety improvements: By demonstrating a more stable and precise control mechanism for navigating large facades, the study could contribute to significant safety improvements, reducing the risk of accidents associated with manual facade maintenance and inspection tasks. Originality/value This paper combines the force/position hybrid control method with actual robotic applications, offering a novel solution to the complex issue of controlling cable-driven parallel robots in challenging environments. Thus, it contributes to the field. The proposed method significantly enhances the precision and stability of such systems and provides robust technical support for high-precision tasks in complex mechanical settings.

Experimental investigation on hydrodynamic performance of submerged floating tunnel under the protection of a new floating energy dissipation and anti-vibration device

This study describes an efficient and applicable approach to decrease the hydrodynamic response of a submerged floating tunnel (SFT). A new type of floating energy dissipation and anti-vibration device is proposed, mainly consisting of a floating box superstructure with water and a polyvinyl chloride porous media substructure. The experimental model of an SFT with the present protection device is designed and conducted in a wave–current flume. The wave–current attenuation mechanisms for the present protection device are experimentally investigated. The sensitivity analysis for the key parameters, e.g., structure type and wave–current parameter, is conducted to investigate the hydrodynamic performance of the SFT with the present protection device. The results show that the present protection device has excellent wave–current attenuation capacity, and the transmission coefficients and the current–velocity attenuation coefficient reach 0.2 and 0.15, respectively. The sway, heave, roll, and typical cable tension from the SFT with the protection are, respectively, about 8, 6, 8, and 3 times smaller than that from without the protection. The results show that the SFT with the present protection device has excellent anti-vibration performance, which is beneficial for its safety and stability. This study has important theoretical and practical values to the anti-vibration design of SFTs serviced in complicated ocean environments.

Formation Planning for Tethered Multirotor UAV Cooperative Transportation With Unknown Payload and Cable Length

This study investigates the formation planning problem of tethered multirotor unmanned aerial vehicle (UAV) cooperative transportation with unknown payload and cable length. Normally, the transportation formation and trajectory are given in advance or designed based on the coupled system model. It is challenging to dynamically generate flexible formations in response to changing environments when the payload and cable length are unknown. This paper proposes an online formation planning method for multirotor UAVs. First, by analyzing the tension on cables, we propose some formation criteria and further construct a corresponding performance function of optimization. Then, desired trajectories/formations that can reduce the cost functions are generated by using the admittance model. Next, an estimation-based formation tracking control is designed, which ensures that multirotor UAVs follow the desired trajectories/formations. Finally, numerical simulations and experiments are conducted to demonstrate the effectiveness of the proposed method. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —This paper is motivated by the formation planning problem of tethered multirotor UAV cooperative transportation. In industry and production applications, a team of multirotor UAVs has a larger load capacity than a single one. Nevertheless, the formation planning of the tethered cooperative transportation is challenging, especially when the payload and cable length are unknown. Rather than give a predefined formation or trajectory, this paper suggests an online formation planning method for multirotor UAVs in case of unknown payload and cable length. The method is implemented through the following three parts: 1) By analyzing the tension on cables, we propose some formation criteria and further construct a corresponding performance function of optimization. 2) By using the admittance model, we generate desired trajectories/formations that can minimize the proposed cost function. 3) By estimating cable tension, we design formation tracking control laws for multirotor UAVs to follow the desired trajectories/formations. The proposed formation planning method does not rely on the knowledge of the payload and length of cables, which makes it can be easily applied to extensive industry, production, and military practice. Finally, numerical simulations and experiments are conducted to demonstrate the feasibility of the proposed method.

Anti-creep pretension determination of a mesh reflector antenna for long term surface accuracy retention

During the in-orbit service, mesh reflector antennas inevitably withstand the long-term creep behavior, resulting in changes in material properties and loss of cable tensions, thus decreasing the structural stiffness and surface accuracy. Pretension design plays an important role for mesh reflector antennas in achieving high surface accuracy, and different levels of pretension also affect the antenna’s creep behavior in the time dimension, which can be actively utilized to improve stability of the antenna surface accuracy. In this paper, we present an anti-creep pretension determination method for mesh reflector antennas to improve the surface accuracy stability. The creep model in the discretized time domain is adopted to describe the cable creep behavior. The time-related nonlinear equilibrium equation of the mesh reflector antenna is established with the force density method. The time-related tangent stiffness matrix is derived and adopted to solve the nonlinear equilibrium equation by the Newton-Raphson method, providing an effective way to analyze the antenna creep phenomenon in the discretized time domain. Aiming to minimize the long-term peak value of the time-variant surface error, the pretension schemes are generated and optimized. Finally, this approach is effectively applied to a thirty-unit mesh reflector antenna and its feasibility and effectiveness are verified.

Impact of Prophylactic Cerclage Location on Femoral Fracture Propagation: A Biomechanical Study.

Prophylactic cerclage cables are often placed intraoperatively about a fracture to prevent propagation. However, biomechanical data supporting optimal cable placement location are lacking. The objective of this study was to evaluate the impact of prophylactic cerclage placement location on the propagation of femoral shaft fractures. The diaphysis of 14 fresh-frozen cadaveric femora were included. Volumetric bone mineral density in the femoral shaft was obtained from quantitative computed tomography scans. For each specimen, a 5-mm longitudinal fracture was created proximally to simulate a pre-existing fracture. After reaming of the femoral canal, a 3 degrees tapered wedge was advanced with an MTS machine at 0.2 mm/s until failure. The tests were conducted with a CoCr cable placed at varying distances (5 mm, 10 mm, 15 mm, 20 mm, and cableless) from the distal tip of the initial fracture. A compression loadcell was used to measure the cable tension during the tests. The axial force, displacement, and cable tension were monitored for comparison between groups. In the cableless group, the mean force needed to propagate the fracture was 1017.8 ± 450.3 N. With the addition of a cable at 5 mm below the fracture, the failure force nearly doubled to 1970.4 ± 801.1 N (P < 0.001). This also led to significant increases in stiffness (P = 0.006) and total work (P = 0.001) when compared with the control group. By contrast, in the 15 and 20 mm groups, there were no significant changes in the failure force, stiffness, and total work as compared with the control group (P > 0.05). Propagation of femoral shaft fracture was effectively resisted when a prophylactic cable was placed within 5 mm from the initial fracture, whereas cables placed more than 10 mm below the initial fracture were not effective in preventing fracture propagation.

Dynamic responses of ROV system experiencing vessel heave during deployment and recovery processes

Remotely operated vehicle (ROV) system is significantly affected by the excitations coming from the top-end vessel motion and the environmental hydrodynamic forces. Especially, during initial deployment and final recovery stages, the relative motion between suspending ROV and moving top-end vessel gets more complicated and even larger. This may cause a body collision, and consequently the cable tension can also be severely changed by larger ROV motion. Sometimes, cable slack may occur, which seriously affects structural safety.To study the dynamic responses of ROV system induced by vessel heave during initial deployment and final recovery processes, the FEM numerical simulations, combining with the hydrodynamic model are conducted. Then the ROV displacement and cable tension time histories are presented. The influences of vessel motion amplitude and frequency, along with initial condition, on the dynamic responses of ROV system are also discussed. Moreover, to explore the dynamic behaviors of the ROV system further, we discuss the physical mechanisms driving response amplification through theoretical models. The governing equation of ROV system dynamics with a vertical moving boundary is established, and a dimensionless control parameter called amplitude-frequency factor, which characterizes the dynamic excitation effect of vessel heave, is proposed. Then, in order to study the influences of nonlinear hydrodynamic damping effect on ROV response, an empirical formula for hydrodynamic damping ratio is proposed based on ROV displacement time histories. Finally, under consideration of the nonlinear damping effect, the unstable regions of vessel motion amplitude and frequency at different initial conditions are obtained.The results show that the vessel heave may induce a parametric excitation response to the ROV system. Particularly, parametric resonance is most pronounced, when the vessel motion frequency is close to twice the natural frequency of the ROV system. While, under the nonlinear damping effect generated by hydrodynamic force, the parametric resonance occurs when the amplitude-frequency factor reaches its threshold. The unstable regions under hydrodynamic damping are smaller compared with that without damping. Furthermore, as the initial angular displacement of ROV increases, the unstable region becomes smaller further, or, in other words, the parametric conditions of vessel heave for ROV response amplification become more demanding.

Rapid measurement method for cable tension of cable‐stayed bridges using terrestrial laser scanning

AbstractThis study proposes a new method for the rapid and non‐contact measurement of cable forces in cable‐stayed bridges, including a cable force calculation method based on measured cable shapes and a batch acquisition method for the true shape of cables. First, a nonlinear regression model for estimating cable forces based on measured cable shapes is established, and a Gauss–Newton‐based cable force solving method is proposed. Furthermore, terrestrial laser scanning technology is used to collect geometric data of the cables. Meanwhile, automatic segmentation, noise reduction, and centerline extraction algorithms for the cable point cloud are proposed to accurately and efficiently obtain the cable shape. The correctness of the proposed cable force calculation method is verified in a well‐designed experiment, with the measurement error of cable forces for 15 test samples being less than 1%. Finally, the proposed point cloud automation processing algorithm and cable force measurement method are fully tested on a cable‐stayed bridge with a span of 460 m. The measurement accuracy of the proposed method for actual bridge cable tension is comparable to that of the frequency method, but the detection efficiency on site is nine times higher than that of the traditional frequency method. Overall, this study provides a new measurement method for construction control, health monitoring, intelligent detection, and other fields of cable‐stayed bridges.

Remote estimation of cable tension using catenary theory and point clouds obtained by terrestrial laser scanning

This study addressed the structural health monitoring of civil engineering cable structures, in which single cable tension is the key parameter influencing safe and intended behaviour. Traditional methods for monitoring the tension force in a cable are labour-intensive and require direct interaction with the cable. In contrast, the proposed approach provides a remote and rapid assessment of the tension force in the cables of engineering structures using only the shape of the cable. First, a terrestrial laser scanner was used to acquire a point cloud of the cable geometry from a distance. Catenary theory was subsequently applied to the point cloud data to calculate the theoretical tensile force in the observed cable. When the results were compared with those obtained through conventional direct measurements using a dynamometer, the differences were negligible. The proposed approach was subsequently demonstrated on the actual in-service overhead contact lines of a tram system. The results indicated that the precision of the proposed approach is highly dependent on the accuracy of the data describing the physical properties of the cable (cable linear mass). Thus, the proposed approach was proven to be precise, reliable, and rapid, and directions for future research were discussed accordingly.

Characterization of the interface fracture energy dependency on mixed mode fracture between rigid fiber and soft matrix

An enhanced version of the Rubber Cord Adhesion Inflation Test (RCAIT) has been designed to experimentally assess the internal pressure and cable tension applied to the specimen needed to propagate a crack along the matrix/reinforcement interface. To calculate the critical strain energy release rate, we develop a semi-analytical model describing the deformation of a hyperelastic tube under loading conditions that reflect the ones applied experimentally. A more comprehensive numerical model of the test is also proposed to investigate the influence of loading conditions on rubber deformation near the crack tip. Comparison of different experimental data sets with the theoretical/numerical data demonstrates that the new experimental setup allows for a reliable determination of the rubber/cord interface failure envelope under combined loading conditions.

Research on Cable Tension Prediction Based on Neural Network

Conventional methods for calculating tension currently suffer from an excessive simplification of boundary conditions and a vague definition of effective cable length, both of which cause inaccurate cable tension calculations. Therefore, this study utilizes bridge field data to establish a BP neural network for tension prediction, with design cable length, line density, and frequency as the input parameters and with cable tension as the output parameter. After disregarding the selection of effective cable length and innovatively integrating the particle swarm optimization–back propagation (PSO-BP) neural network for tension prediction, it is found that the MAPE between the predicted results of the BP neural network and the actual tension values is 7.93%. After optimization using the particle swarm optimization algorithm, the mean absolute percentage error (MAPE) of the neural network prediction is reduced to 2.78%. Both of these values significantly outperform those obtained from the theoretical equations of string vibration. Moreover, the MAPE of PSO-BP also surpasses that of the optimized calculation formulas in the literature. Utilizing the PSO-BP neural network for tension prediction avoids inaccuracies in tension calculation caused by an excessive simplification of boundary conditions and a vague definition of effective cable length; thus, it possesses certain engineering practical value.