Investigation of Repetitive Bending Durability of Synthetic Fiber Ropes

Horigome, Atsushi; Endo, Gen

doi:10.1109/lra.2018.2800129

Cited by 15 publications

(3 citation statements)

References 13 publications

(12 reference statements)

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“…The friction between the tendon and sheath results in highly fluctuating tension on the cable; this accelerates the stress fatigue accumulation. This is unlike the pulley-routed mechanism found in rigid robots, in which fatigue of the wire is affected by the repetitive bending (Horigome and Endo, 2018). Some research has been conducted to reduce the frictional effect in the control system of a Bowden cable by using feedforward compensation (Jeong and Cho, 2015, 2017, 2019; Palli and Melchiorri, 2006) or feedback control (Asbeck et al, 2015; Kong et al, 2013; Veneman et al, 2006; Witte et al, 2015).…”

Section: Failure Analysis Of a Tendon-driven Soft Robotmentioning

confidence: 95%

Reliability analysis of a tendon-driven actuation for soft robots

Jeong

Kim

et al. 2020

The International Journal of Robotics Research

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The reliability of soft robotic devices will be the bottleneck that slows their commercialization. In particular, fatigue failure issues are a major concern. Thus, reliability should be taken into account from the earliest stages of development. However, to date, there have been no attempts to analyze the reliability of soft robotic devices in a systematic manner. When soft robots are employed to force transmission applications, reliability is typically a dominant issue, since soft robotic structures are constructed with soft material components; these materials have highly nonlinear properties that arise due to the large distribution in the material properties. Furthermore, reliability should be analyzed from the robot’s system down to the components using domain knowledge about the system; this requires a systematic approach. This study presents a framework for reliability analysis of soft robotic devices taking into account a probability distribution that has not been considered before and examines a case study of a tendon-driven soft robot. This study focuses specifically on the (a) concept design process, (b) lifetime analysis process, and (c) design and optimization process. A life model that considers distribution is proposed using accelerated life testing based on analysis of the failure mechanism of the tendon-driven system. The tensile stress of the wire was varied during the experiment with different bend angles and output tension. The result was validated with different stress levels using a testbed to simulate an actual application. The proposed reliability analysis methodology could be applied to other soft robotic systems, such as pneumatic actuators, to improve the reliability-related properties during the robot design stage, and the life model can be used to estimate the device lifetime under various stress conditions.

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Section: Failure Analysis Of a Tendon-driven Soft Robotmentioning

confidence: 95%

Reliability analysis of a tendon-driven actuation for soft robots

Jeong

Kim

et al. 2020

The International Journal of Robotics Research

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“…Each cable is fixed on both sides to a linear actuator and, passing through rollers made with IGLIDUR A350 assembled around two pairs of metal rods, transfers the power to the module through the friction between the pulley and the cable itself. The cables are made of a synthetic fiber called Zylon PBO [32]. This material was chosen because the more commonly used steel cables suffer from a few drawbacks mainly related to their weight per unit of length, their bending radius and difficulties in making simple and effective anchoring solutions.…”

Section: Robotic Armmentioning

confidence: 99%

Design of a Novel Long-Reach Cable-Driven Hyper-Redundant Snake-like Manipulator for Inspection and Maintenance

et al. 2022

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Robotic inspection and maintenance are gaining importance due to the number of different scenarios in which robots can operate. The use of robotic systems to accomplish such tasks has deep implications in terms of safety for human workers and can significantly extend the life of infrastructures and industrial facilities. In this context, long-reach cable-driven hyper-redundant robots can be employed to inspect areas that are difficult to reach and hazardous environments such as tanks and vessels. This paper presents a novel long-reach cable-driven hyper-redundant robot called SLIM (Snake-Like manipulator for Inspection and Maintenance). SLIM consists of a robotic arm, a pan and tilt mechanism as end-effector, and an actuation box that can rotate and around which the arm can wrap. The robot has a total of 15 degrees of freedom and, therefore, for the task of positioning the tool centre point in a bi-dimensional Cartesian space with a specific attitude, it has 10 degrees of redundancy. The robot is designed to operate in harsh environments and high temperatures and can deploy itself up to about 4.8 m. This paper presents the requirements that drove the design of the robot, the main aspects of the mechanical and electronic systems, the control strategy, and the results of preliminary experimental tests performed with a physical prototype to evaluate the robot performances.

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“…Thus, if we were to fully exploit these advantages of synthetic fiber ropes, it may be possible to develop a high performance robot, which is not feasible with conventional mechanisms. In our previous works, we investigated modeling of synthetic fiber ropes [3], tensile strength degradation by bending [4], repetitive bending durability [5], and the terminal fixation method [6].…”

Section: Introductionmentioning

confidence: 99%

Bundled Wire Drive: Proposal and Feasibility Study of a Novel Tendon-Driven Mechanism Using Synthetic Fiber Ropes

Endo

Wakabayashi

Nabae

et al. 2019

IEEE Robot. Autom. Lett.

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This paper proposes a new wire-driven mechanism in order to relay many ropes very simply and compactly. Ropes pass through in a joint while bundled. Synthetic fiber rope can slide and twist, exploiting its low friction coefficient. In order to use this mechanism, it is necessary to investigate the influence of sliding on tension transmission efficiency and rope strength. The results of this study reveal that it is feasible for a robot arm using this mechanism to have more than 15 joints. Sliding has little influence on rope strength. The feasibility of this system was studied through hardware experiments and its mechanical performance was evaluated by constructing a horizontally extendable manipulator with three degrees of freedom.

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Investigation of Repetitive Bending Durability of Synthetic Fiber Ropes

Cited by 15 publications

References 13 publications

Reliability analysis of a tendon-driven actuation for soft robots

Reliability analysis of a tendon-driven actuation for soft robots

Design of a Novel Long-Reach Cable-Driven Hyper-Redundant Snake-like Manipulator for Inspection and Maintenance

Bundled Wire Drive: Proposal and Feasibility Study of a Novel Tendon-Driven Mechanism Using Synthetic Fiber Ropes

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