Since cable driven parallel robots (CDPRs) have many advantages, they have been used in many industrial fields. Fully constrained CDPRs mainly use Dyneema polyethylene because it has advantage of the lower weight than steel wire. However, the polyethylene cable has complex elastic characteristics (e.g. permanent stretch and hysteresis). In this paper, the advanced numerical modeling of nonlinear elastic cable with permanent stretch using cable driven parallel robot was derived and simulated for various cable condition. Based on the advanced numerical nonlinear cable model, the simulation was carried out under the various cable lengths and tensions. Compared to the experimental results, the simulation results are good agreement with the experimental data.
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ASME 2017 Conference on Information Storage and Processing Systems collocated with the ASME 2017 International Technical Conference and Exhibition on Packaging and Integration of Electronic and Photonic Microsystems
August 29–30, 2017
San Francisco, California, USA
Conference Sponsors:
- Information Storage and Processing Systems Division
ISBN:
978-0-7918-5810-3
PROCEEDINGS PAPER
Advanced Numerical Modeling of Nonlinear Elastic Cable With Permanent Stretch Using Cable Driven Parallel Robot
Sung-Hyun Choi,
Sung-Hyun Choi
Gachon University, Seongnam-si, Korea
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Kyoung-Su Park
Kyoung-Su Park
Gachon University, Seongnam-si, Korea
Search for other works by this author on:
Sung-Hyun Choi
Gachon University, Seongnam-si, Korea
Kyoung-Su Park
Gachon University, Seongnam-si, Korea
Paper No:
ISPS2017-5404, V001T07A002; 3 pages
Published Online:
October 30, 2017
Citation
Choi, S, & Park, K. "Advanced Numerical Modeling of Nonlinear Elastic Cable With Permanent Stretch Using Cable Driven Parallel Robot." Proceedings of the ASME 2017 Conference on Information Storage and Processing Systems collocated with the ASME 2017 International Technical Conference and Exhibition on Packaging and Integration of Electronic and Photonic Microsystems. ASME 2017 Conference on Information Storage and Processing Systems. San Francisco, California, USA. August 29–30, 2017. V001T07A002. ASME. https://doi.org/10.1115/ISPS2017-5404
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