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Non-slipping Conditions of Endless-Cable Driven Parallel Robot by New Interpretations of the Euler-Eytelwein’s Formula

  • Takashi HaradaEmail author
  • Koki Hirosato
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 74)

Abstract

Non-slipping conditions of endless-cable driven parallel robot (E-CDPR) which enables unlimited rotation of the hand are discussed in this paper. Instead of fixing the end of the cable to the pulley and the winch, endless-cable (loop-cable) is turned around the endless-pulley and the endless-winch. Because friction forces between the cable and the drum transfer the cable tension, slipping of the cable which is dominated by the well-known Euler-Eytelwein’s formula is taking into consideration of the statics of the E-CDPR. In this paper, a new interpretation of the Euler-Eytelwein’s formula is proposed by using a graph that the non-slipping condition is expressed as an area in the cable tensions. Equations of the statics of the endless-pulley and the endless-winch are superimposed on the graph, then the non-slipping conditions of the E-CDPR are derived.

Keywords

endless-Cable friction drive the Euler-Eytelwein’s formula statics 

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Notes

Acknowledgement

This work was supported by JSPS KAKENHI Grant Number 18K04068.

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Kindai UniversityHigashiosaka, OsakaJapan
  2. 2.Kindai University, Graduate School of Science and Engineering ResearchHigashiosaka, OsakaJapan

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