A Polymer Cable Creep Modeling for a Cable-Driven Parallel Robot in a Heavy Payload Application

A polymer cable driven parallel robot can be an effective system in many fields due to its fast dynamics, high payload capability and large workspace. However, creep behavior of polymer cables may yield a posture control problem, especially in high payload pick and place application. The aim of this paper is to predict creep behavior of polymer cables by using different mathematical models for loading and unloading motion. In this paper, we propose a five-element model of the polymer cable that is made with series combination of a linear spring and two Voigt models, to portray experimental creep in simulation. Ultimately, the cable creep can be represented by payloads and cable length estimated according to the changes of actual payloads and cable lengths in static condition.