Dynamics of the process of the rope winding (unwinding) on the winch

摘要

The aim of this paper is the analysis and definition of the phenomenon of non-linear and pulsed nature of dynamic process of the rope winding (unwinding) on the winch. This process is characterized with sudden and abrupt jumps of dynamic variables which describe the rope winding (unwinding) process. Because of that, we have named this process: process of the rope jumpy non-linear in one row radially multilayered winding (unwinding) on the winch. Because of the easier understanding of this jumpy concept of the winding (unwinding) process, we have first analysed this concept under idealized circumstances when the rotational speed of the winch is constant. To show that this process is even more complex in the real working conditions (when it is part of a complex system), we have analysed it during the implementation of the task of ropes suspended RSPCR (Rigid ropes S-type Cable-suspended Parallel Robot) system which carries a camera in 3D space. Defined concept of jumpy process of rope winding (unwinding) on the winch is even more expressed at the RSCPR system, because in this case there is a strong coupling between three subsystems for ropes winding (unwinding). These effects have been demonstrated through simulation experiments for the real RSCPR system. This result has far wider significance, because the rope winding (unwinding) process can be an integral part of any complex system which is suspended by ropes. For verification of the results presented in this paper, we have developed two novel program packages named: JUMPWIND - OW and JUMPWIND - RSCPR. We have confirmed this theoretical concept through experimental results on one system consisting of motor and a winch.