Experimental Research on Transmission Accuracy of Multi-cable Drive

被引：0
|
作者：
Xie H.-W. [1 ]
Tao Z. [1 ]
Hou J.-Z. [1 ]
Zhang W.-G. [1 ]
机构：
[1] Xi'an Institute of Applied Optics, Xi'an, 710065, Shaanxi
来源：
Binggong Xuebao/Acta Armamentarii | 2017年 / 38卷 / 04期
关键词：
Cable drive; Load; Mechanics; Preload force; Transmission accuracy;
D O I：
10.3969/j.issn.1000-1093.2017.04.014
中图分类号：
学科分类号：
摘要：
In order to determine the effects of preload force, load, rope number and rotate speed on cable drive transmission accuracy, an experiment is conducted to measure the transmission error under the condition of different cable numbers. The results show that the transmission error is composed of transmission backlash and slip error. When cable number remains constant, the transmission backlash decreases and the slip error increases with the increase in preload force. The transmission error increases with the increase in preload force. The transmission backlash and slip error increase with the increase in load, which causes a larger transmission error. When cable number is increased, the transmission backlash decreases slightly while the slip error decreases significantly. The influence of rotate speed on the transmission error can be ignored. What is proved to be an effective way for improving transmission precision is to increase rope number or decrease preload force under the condition of given load. © 2017, Editorial Board of Acta Armamentarii. All right reserved.
引用
收藏
页码：728 / 734
页数：6
相关论文
共 14 条
  • [1] Chen Z.-B., Wang B., Chen N., Et al., Analysis of overall accuracy of mast-mounted photodetection systems, Acta Armamentarii, 34, 4, pp. 507-512, (2013)
  • [2] An K., Effect of gear backlash on positioning precision of mani-pulator end-effectors, Acta Armamentarii, 35, 8, pp. 1301-1307, (2014)
  • [3] Aguirre-Ollinger G., Colgate J.E., Peshkin M.A., Et al., Inertia compensation control of a one-degree-of-freedom exoskeleton for lower-limb assistance: initial experiments, IEEE Transactions on Neural Systems and Rehabilitation Engineering, 20, 1, pp. 68-77, (2012)
  • [4] Saber O., A spatial translational cable robot, Journal of Mechanisms & Robotics, 7, 3, (2014)
  • [5] Song Q.-Z., Wang X.-G., Wang X., Et al., Development of multi-joint exoskeleton-assisted robot and its key technology analysis: an overview, Acta Armamentarii, 37, 1, pp. 172-180, (2016)
  • [6] Yan W., The system design and study for new type mobile robot, (2011)
  • [7] Zhang H.-W., Cao G.-H., Li Y.-W., Et al., Application of wire rope gearing in aerial optical remote sensor, Laser and Infrared, 43, 4, pp. 418-422, (2013)
  • [8] Werkmeister J., Slocum A., Theoretical and experimental determination of capstan drive stiffness, Precision Engineering, 31, 1, pp. 55-67, (2007)
  • [9] Fang X., Innovation design of the cable-driven manipulator, (2014)
  • [10] Baser O., Konukseven E.I., Theoretical and experimental determination of capstan drive slip error, Mechanism & Machine Theory, 45, 6, pp. 815-827, (2010)
12