Cable driven parallel robots (CDPRs) have many advantages such as low inertia and large workspace. These advantages lead to the industrial applications. CDPRs mainly use Dyneema polymer cable for more high sensitivity because it has advantage of the lower weight than steel wire. However, the polymer cable is continuously deformed when actuating the CDPR because of the elasto-plastic cable characteristics such as recovery. In this paper, numerical cable recovery was proposed using the modified burger model. Finally, the models were simulated and compared with the experimental profiles. As the result, the simulations are good agreement with the experimental profiles.
- Information Storage and Processing Systems Division
Advanced Numerical Modeling of Nonlinear Elastic Cable With Recovery Characteristics
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Choi, S, & Park, K. "Advanced Numerical Modeling of Nonlinear Elastic Cable With Recovery Characteristics." 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. V001T07A009. ASME. https://doi.org/10.1115/ISPS2017-5460
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