Transmission backlash of precise cable drive system

Lü, Yafei; Ding, Fan

doi:10.1177/0954406212473887

Cited by 16 publications

(13 citation statements)

References 21 publications

(21 reference statements)

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“…A drum, or spool, consists of a spindle with flanges, around which a cable is wrapped. The cylindrical surface of an ordinary drum has a constant radius [25]. A typical device, in which an ordinary drum is employed, is a winch [26].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums

Scalera

Gallina

Seriani³

et al. 2018

IEEE Trans. Robot.

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In this paper we present a new family of overhead travelling cranes based on variable radius drums, called Cable-Based Robotic Cranes (CBRCs). A Variable Radius Drum (VRD) is characterized by the variation of the spool radius along its profile. This kind of device is used, in this context, for the development of a cable-robot, which can support and move a load through a planar working area with just 2 degrees-of-freedom. Firstly, we present the kinematic analysis and the synthesis of the geometry of VRD profile. Then, the schema of a bidimensional horizontal moving mechanism, based on the VRD theory, and an experimental prototype of a three-dimensional CBRC are presented. The features of this wire-based overhead crane and an analysis of cables tensions are discussed. Finally, the performance of this mechanism is evaluated, demonstrating a deviation between the end-effector and the nominal planar surface of less than 1% throughout the whole working area.

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Section: Introductionmentioning

confidence: 99%

“…Examples of research studies in cable-drum systems can be found in [28], where a cable mechanism is used as linear motion sensor, in [29], where a study on the prediction of slip in cable-drum system is proposed, and in [25], where the transmission backlash of a precise cable drive system is analysed and experimentally measured.…”

Section: Introductionmentioning

confidence: 99%

Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums

Scalera

Gallina

Seriani³

et al. 2018

IEEE Trans. Robot.

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show abstract

“…In large footprint such as haptic device for stabilizing a double inverted pendulum use cable-driven to reduce a weight structure [65,66] [67], surgical teleoperation [68,69] and robotic hands [70,71]. In the other field, design a prototype of cabledriven multi stage was developed for mobile surveillance robot which can support various end-effector [72] while a design and consideration of precise cable drive for electro-optical tracking gimbals in [73,74]. The effect of preload tension and backlash tested.…”

Section: Introductionmentioning

confidence: 99%

Design of high performance DC motor actuated cable driving system for compact devices

Direkwatana

Suthakorn

2020

IJPEDS

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The cable transmission is widely used in the remote operation or complex geometry with high stiffness and low backlash. Larger drum is required to reduce and error of transmission in long stroke. An error of the desired position occurs due to the fleet angle while cable winding on a drum. Therefore, a new cable driving module which overcomes this problem is proposed. A new cable driving module with a sliding platform is connected to the actuator unit. A motion of the sliding platform is corresponding to a screw rod connected to an actuator. The precision of the driving system is measured by a high-resolution rotatory encoder and high gear ratio actuator. Results are measured by load and error of the system. A load of system shows a performance of overall translation and rotation of the drum at different speeds. An error of the system is measured from forward and reverse direction by increasing and decreasing the number of turns with constant speed. A system has an average load consumption along a long stroke of cable winding which has no significant problem on the screw platform. Multiple turns have low error value in specific and continuous turn in forward and reverse motion. A new cable driving system is proved in precision movement. The fleet angle is eliminated in new mechanism. Along with a constraint motion, there is no significant change in load consumption. An error is low value in a different direction of movement. Hence, a new design of cable transmission can perform in high performance and small size of the system.

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“…Precise cable drive (Lu et al, 2011;Lu, 2013;Lu and Fan, 2013;Fan et al, 2018) is an elegant transmission mode and has many advantages of high efficiency, flexible layout, besides being lightweight. These properties make precise cable drive widely used in the acquiring tracking and pointing (ATP) applications (Ren and Stephens, 2015), such as free space laser communication system (Sofka, 2007;Korevaar and Bloom, 1993), satellite remote sensing platform (Li et al, 2015;Zhang et al, 2013) and hybrid active vision robot (Dankers and Zelinsky, 2004;Sutherland et al, 2000).…”

Section: Introductionmentioning

confidence: 99%

“…Past studies have involved the design and performance analysis methods of the precise cable drive (Baser and Konukseven, 2010;Kilic and Dolen, 2014;Lu and Fan, 2013;Jung et al, 2008), but most of those have focused on SISO configuration. The following issues need to be considered for the proposed novel configuration.…”

Section: Introductionmentioning

confidence: 99%

Compact design of a novel precise cable drive mechanism with high precision and large torque-to-weight ratio

et al. 2019

Self Cite

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Abstract. Precise cable drive is an elegant transmission mode and has many advantages of high efficiency, flexible layout, besides being lightweight. Since the common layout, Single-Input Single-Output (SISO) spur gear configuration, suffers from low torque-to-weight ratio and loose structure, this paper proposes a novel transmission configuration with large torque-to-weight and compact size. It combines the advantages of Multiple-Input Single-Output (MISO) configuration and bevel gear configuration. The design methods and transmission kinematics of the novel configuration are studied. An analytical model is developed for characterizing the transmission backlash of the proposed configuration, which is derived by simultaneous satisfying system's constitutive relation, equilibrium, and geometric constraints. Parametric sensitivities are carried out to investigate the influence of the major design parameter on the transmission characteristics. At last, a prototype of MISO with bevel gear configuration cable drive mechanism (MBCDM) is built, with which a series of experiments are carried out. This mechanism could achieve maximum output torque of 3.3 Nm with considerable toque-to-weight ratio of 9.649 Nm kg−1. The experimental results show that the transmission backlash and ripple torque are dominant nonlinear effects in the MBCDM system. It shows that the ripple torque is connected with the rotational displacement, with the highest peak at 694.3 cycle rad−1 and the amplitude of 24.67 µrad. The transmission backlash experimental results are in good agreement with simulation ones, with the error level of 4.14 %.

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Transmission backlash of precise cable drive system

Cited by 16 publications

References 21 publications

Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums

Cable-Based Robotic Crane (CBRC): Design and Implementation of Overhead Traveling Cranes Based on Variable Radius Drums

Design of high performance DC motor actuated cable driving system for compact devices

Compact design of a novel precise cable drive mechanism with high precision and large torque-to-weight ratio

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