Theoretical and experimental determination of capstan drive slip error

Cable capstan drives are rotary transmission elements widely used in robot applications because of their low inertia, low backlash, high stiffness and simplicity. The cable in capstan drives is typically wrapped around the input and output drums in a figure-eight pattern and is the principle compone...

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Bibliographic Details
Published in:Mechanism and machine theory 2010-06, Vol.45 (6), p.815-827
Main Authors: Baser, Ozgur, Ilhan Konukseven, E.
Format: Article
Language:English
Subjects:
Backlash
Cable/wire capstan drive
Cable/wire-based robot
Cables
Inertia
Mathematical analysis
Power transmission
Robots
Slip
Slip error
Transmission error
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Summary:Cable capstan drives are rotary transmission elements widely used in robot applications because of their low inertia, low backlash, high stiffness and simplicity. The cable in capstan drives is typically wrapped around the input and output drums in a figure-eight pattern and is the principle component for power transmission. In this paper an analytical method is developed for predicting the transmission error of capstan drives due to cable slippage on the drum so that designers can include this in the control phase of devices. The theoretical analysis was verified by experiments.
ISSN:0094-114X
1873-3999
DOI:10.1016/j.mechmachtheory.2009.10.013