Parametric Study for Nonlinear Dynamic Behaviors using Integrated Cable Elongation Model of Cable Driven Parallel Robot

摘要

Polymer is one of the most widely used cable materials in the CDPR system due to its light weight and low inertia. However, it is not easily to achieve high accuracy because of the complicated response of polymer cable while CDPR is operated. In our previous study, the integrated dynamics model of cable was derived with the visco-elastic model. With the integrated dynamics model of cable, the parametric studies were carried out for the cable length, the applied force and the tensile rate for various nonlinear cable elongation behaviors. At first, dynamic creep behavior was defined and investigated in CDPR system. Dynamic creep was saturated with one value as the cyclic load/unload is continuously carried out. The saturation number was inversely proportional to the cable length because of the residual stress. And as the tensile rate was increased, the dynamic creep was decreased linearly. In long-term recovery, the long-term recovery is finished more quickly for the case of a shorter cable.