Design and performance analysis of a many-to-one configuration precise cable drive mechanism with high precision and large torque

Abstract

Precise cable drive is a flexible frictional transmission method that transmits power from drive capstans to driven pulleys by a properly preloaded transmission medium. Since most of precise cable drive mechanism with high pointing precision proposed in previous studies suffer from low transmission stiffness and small output torque, this paper presents a novel many-to-one configuration precise cable drive mechanism (MCCDM) with high precision and large torque. The design methods of many-to-one configuration are studied including the system optimal design and cable wrapping design. The transmission characteristics of the developed configuration are analyzed, considering transmission capacity, transmission backlash, and transmission stiffness. The corresponding parameter sensitivities are also investigated. Moreover, a prototype of the MCCDM has been built, with which a series of experiments are carried out. It is noted that the developed mechanism has a motion range of ±2 rad. The steady-state error to a step reference of 1 rad amplitude is only 1.39 µrad and the position resolution is better than 0.5 µrad. This mechanism could achieve maximum output torque of 35 Nċm with compact size and light weight. It has reached a considerable toque-to-weight ratio of 8.997 N·m/kg. The experimental results show that the self-excited oscillation and backlash are dominant nonlinear effects in the MCCDM system. It shows that the self-excited oscillation is a function of the rotational displacement in such a system, with the highest peak at 0.1669 cycle/mrad and the amplitude of 34.63 µrad. The backlash could be measured about 60 µrad under exciting of a small amplitude and low frequency sinusoidal signal. The proposed technologies could have strong technological implications in some special applications such as antenna servo system.

Dynamic characteristics and structural stability analysis of a large annular tensegrity structure with radial ribs

“…Therefore, deployable antennas have effective solutions to solve the problems of the volume restrictions of designing antennas with large apertures (Zhang et al. , 2014; Xie et al. , 2019; Hollaway et al.…”

“…Deployable structures can be folded during launching and deployed to their full scale when working in orbit (Yang et al, 2016;Xiao et al, 2020;Han et al, 2020;Liang et al, 2020). Therefore, deployable antennas have effective solutions to solve the problems of the volume restrictions of designing antennas with large apertures (Zhang et al, 2014;Xie et al, 2019;Hollaway et al, 1991).…”

Nonlinear Identification and Decoupling Sliding Mode Control of Macro-Micro Dual-Drive Motion Platform with Mechanical Backlash

“…Due to the backlash phenomenon that generally exists in mechanical connections, self-excited oscillation may finally occur when its energy accumulates to a certain extent from the relative motion between different mechanisms. In addition, long-term wear in the joints of mechanisms will gradually increase the backlash, then aggravate the selfexcited oscillation and eventually cause a state of instability, which greatly deteriorates the positioning-control performance of mechanical systems [1]. Specifically, in the field of OLED/micro-LED display printing, more special requirements have been raised for the printing process concerning the precision and stability of the above-mentioned macromicro motion platforms.…”

“…Machines 2023, 11, x FOR PEER REVIEW 2 of 27 the joints of mechanisms will gradually increase the backlash, then aggravate the self-excited oscillation and eventually cause a state of instability, which greatly deteriorates the positioning-control performance of mechanical systems [1]. Specifically, in the field of OLED/micro-LED display printing, more special requirements have been raised for the printing process concerning the precision and stability of the above-mentioned macromicro motion platforms.…”

Research on mechanical resonance of Precise cable drive systems

“…Precise cable drive [1][2][3] is a light, concise and efficient spatial friction flexible transmission mode, which has the characteristics of flexible layout, lightweight and miniaturization. It is a good choice for Acquiring tracking and pointing applications (ATPs) [4][5].…”