Abstract
This paper focuses on the winch winding properties of typical driving mechanisms of cable-driven parallel robots. While cable properties have already been studied, the accuracy of winding mechanisms to control cable robots and the interaction with cable properties has yet to be investigated. To initiate this, some properties believed to affect the winding accuracy are outlined. It was found that cable force can have a significant effect not only because of finite stiffness, but due to ovalisation and elongation effects of the rope. An experimental test on ovalisation showed significant deviations from a standard approximation to evaluate transmission accuracy. This effect can change the accuracy of winding mechanisms by 0.3–1.2 %. Thus when investigating cable-robot accuracy the winch winding properties cannot be ignored.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Notes
- 1.
Bosch Rexroth: MSK 050B-0600-NN-M2-UG1-RNNN.
References
Albus JS, Bostelman RV, Dagalakis NG (1992) The NIST ROBOCRANE. J Res Nat Inst Stand Technol 373–385
Bosch Rexroth AG (2006) Rexroth IndraDyn S Projekt Planning Manual: MSK Synchronous Motors, 5th edn. R91196289
Feyrer K (2007) Wire ropes: tension, endurance, reliability. Springer, ISBN 978-3-540-33831-4
Merlet JP (2009) Analysis of wire elasticity for wire-driven parallel robots. In: Proceedings of EUCOMES 08, Springer, Netherlands, pp 471–478
Merlet JP (2013) Comparison of actuation schemes for wire-driven parallel robots. In: New trends in mechanism and machine science. Springer, Netherlands, pp 245–254
Michael M, Vogel W (2010) Ovalisierung von hochfesten Faserseilen in Rundrillen. In: Z. Euroseil, pp 57–59
Ottaviano E, Ceccarelli M, Paone A, Carbone G (2005) A low-cost easy operation 4-cable driven parallel manipulator. In: Proceedings of the 2005 IEEE international conference on robotics and automation ICRA, pp 4008–4013
Pott A et al (2012) IPAnema a family of cable-driven parallel robots for industrial applications. In: Cable driven parallel robots, Springer, pp 119–134
Riehl N, Gouttefarde M, Krut S, Baradat C, Pierrot F (2009) Effects of non-negligible cable mass on the static behavior of large workspace cable-driven parallel mechanisms. In: Proceedings of IEEE international conference on robotics and automation, Kobe, Japan, pp 2193–2198
Schmidt V, Pott A (2012) Implementing extended kinematics of a cable-driven parallel robot in real-time. In: Cable driven parallel robots, Springer, pp 287–298
Acknowledgments
This work was supported by the FhG Internal Programs under Grant No. WISA 823 244.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Schmidt, V., Mall, A., Pott, A. (2015). Investigating the Effect of Cable Force on Winch Winding Accuracy for Cable-Driven Parallel Robots. In: Flores, P., Viadero, F. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-319-09411-3_34
Download citation
DOI: https://doi.org/10.1007/978-3-319-09411-3_34
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-09410-6
Online ISBN: 978-3-319-09411-3
eBook Packages: EngineeringEngineering (R0)