In most practical applications for cable-driven parallel robots, cable lifetime is an important issue. While there is extensive knowledge of steel cables in traditional applications such as elevators or cranes, it cannot be easily applied to cable robots. Especially new polymer based materials behave substantially different, but also the conditions for the cable change dramatically. Cable robots have more bending points and a higher variability in cable force and speed than traditional applications. This paper presents a form of bending cycle analysis which can be applied to assess cable wear. This algorithm counts the number of bends per trajectory in each cable segment. The sum gives an indication how much wear a cable receives. Experiments are conducted on a cable robot using different kinds of polymer fibers. The results show that this method is successful in predicting the point at which a cable finally breaks.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Bending cycles and cable properties of polymer fiber cables for fully constrained cable-driven parallel robots


    Beteiligte:
    Schmidt, Valentin (Autor:in) / Pott, Andreas (Autor:in)

    Erscheinungsdatum :

    2018-01-01


    Anmerkungen:

    Fraunhofer IPA



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Calculation of the Collision-free Printing Workspace for Fully-constrained Cable-Driven Parallel Robots

    Fabritius, Marc / Martin, Christoph / Pott, Andreas | BASE | 2018

    Freier Zugriff



    Constrained Optimal Control of Cable-Driven Parallel Robots Based on SDRE

    Marufkhani, Hanie / Khosravi, Mohammad A. | TIBKAT | 2021


    Variable-Structure Cable-Driven Parallel Robots

    Rushton, Mitchell / Khajepour, Amir | TIBKAT | 2021