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Mechanical characteristics and experimental research of a flexible rope-sheave hoisting mechanism

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Abstract

Owing to such advantages as long transmission distances and compact structures, flexible rope-sheave lifting mechanisms are important for applications in disaster relief, emergency treatment, high-altitude operations, and robot transmission. Despite their long research history and wide range of applications, the mechanical properties of the interactions between flexible ropes and sheaves have been investigated by few studies, most of which rely on experience and experimental test results for design. The present study developed a mathematical model for the mechanical characteristics of a hoisting mechanism that was composed of a sheave with gear teeth, pressure wheels, and a flexible rope. The critical value for the hoisting mechanism’s slippage was analyzed, and the parameters that affected the lifting performance, such as the sheave groove angle and gear teeth, were simulated and optimized. The results were consistent with the experimental test data. The optimized rope-sheave lifting mechanism was further applied to the design and development of rope-climbing robots, and its lifting performance was experimentally tested. The research results presented in this paper described the mechanical characteristics of the flexible rope-sheave lifting mechanism, combined the mechanical model with the optimized design, and verified them through experiments; this provided guidance for more precise and quantitative applications of flexible rope-sheaves.

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Abbreviations

τ :

The rope-sheave teeth of the front face angle (°)

β :

The angle between the x(′-axis and the x1-axis ((°)

ρ :

The distance from any point to the specified point on the contact surface (mm)

ϕ :

The groove angle of the rope-sheave (°)

θ :

The rope-sheave wrap angle (°)

θ s :

The sliding angle (°)

θ r :

The static angle (°)

dl :

The micro-arc (mm)

dF Y :

The positive pressure on the rope micro-segment (N)

dF a :

The tight-edge tension increment (N)

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Acknowledgments

This work was supported by the Program for Innovative Research Team in Universities of the Inner Mongolia Autonomous Region (Grant No. NMGIRT2213), the National Key R&D Program of China (Grant No. 2018YFB1307501), the National Natural Science Foundation of China (Grant No. 61763036), the Natural Science Foundation of Inner Mongolia (Grant No. 2021MS05005), and the Key Technology Research Program of Inner Mongolia (Grant No. 2021GG0258). This support is gratefully acknowledged by the authors.

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Authors and Affiliations

  1. School of Mechanical Engineering, Inner Mongolia University of Technology, Hohhot, 010051, China

    Shufeng Tang, Renjie Huang & Guoqing Zhao

  2. Inner Mongolia Key Laboratory of Special Service Intelligent Robotics, Hohhot, 010051, China

    Shufeng Tang, Renjie Huang & Guoqing Zhao

Authors
  1. Shufeng Tang
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  2. Renjie Huang
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  3. Guoqing Zhao
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Corresponding author

Correspondence to Shufeng Tang.

Additional information

Shufeng Tang received the Ph.D. degree in Mechanical Engineering in Harbin Institute of Technology, China, in 2010. He is currently a Professor with the School of Mechanical Engineering, Inner Mongolia University of Technology. His current research interests focus on robot technology and extreme environment special equipment technology.

Renjie Huang is a graduate student of the School of Mechanical Engineering of Inner Mongolia University of Technology in China. He received a bachelor’s degree from Inner Mongolia University of Technology. His research interests include robotic design and optimization design.

Guoqing Zhao is a graduate student at the School of Mechanical Engineering of Inner Mongolia University of Technology in China. He received a bachelor’s degree from North China University of Water Resources and Electric Power. His research interests include micro-robot technology and dynamic simulation.

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Tang, S., Huang, R. & Zhao, G. Mechanical characteristics and experimental research of a flexible rope-sheave hoisting mechanism. J Mech Sci Technol 36, 3329–3339 (2022). https://doi.org/10.1007/s12206-022-0612-x

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  • DOI: https://doi.org/10.1007/s12206-022-0612-x

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