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首页> 外文期刊>Proceedings of the institution of mechanical engineers >Investigating the effect of cable force on winch winding accuracy for cable-driven parallel robots
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Investigating the effect of cable force on winch winding accuracy for cable-driven parallel robots

机译：调查电缆力对电缆驱动并联机器人绞盘卷绕精度的影响

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摘要

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 have 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, generally because of finite stiffness causing ovalisation and elongation effects on the rope. Experimental investigations showed that cable force was the most significant factor contributing to a change in cable length. This effect can change the accuracy of winding mechanisms by 0.3% to 1.2%. The accuracy is not affected by winding speed, and only minimally affected by variable cable forces. This implies that when investigating cable robot accuracy, the winch winding properties cannot be ignored and an accurate winding model will need to take into account different winding states.
机译：本文着重于电缆驱动并联机器人典型驱动机构的绞盘缠绕特性。尽管已经研究了电缆的性能，但尚未研究用于控制电缆机器人的绕线机构的精度以及与电缆性能的相互作用。为此，概述了一些可能会影响绕组精度的特性。已发现，通常由于有限的刚度会导致绳索上的椭圆化和伸长作用，因此缆索力会产生重大影响。实验研究表明，电缆力是导致电缆长度变化的最重要因素。这种效果可以使绕线机构的精度改变0.3％至1.2％。精度不受卷绕速度的影响，而受可变电缆力的影响很小。这意味着在研究电缆机械手的精度时，不能忽略绞车的绕线特性，并且准确的绕线模型将需要考虑不同的绕线状态。

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