Abstract
In most practical applications for cable-driven parallel robots, cable lifetime is an important issue. While there is extensive knowledge of steel cables in traditional applications such as elevators or cranes, it cannot be easily applied to cable robots. Especially new polymer based materials behave substantially different, but also the conditions for the cable change dramatically. Cable robots have more bending points and a higher variability in cable force and speed than traditional applications. This paper presents a form of bending cycle analysis which can be applied to assess cable wear. This algorithm counts the number of bends per trajectory in each cable segment. The sum gives an indication how much wear a cable receives. Experiments are conducted on a cable robot using different kinds of polymer fibers. The results show that this method is successful in predicting the point at which a cable finally breaks.
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Acknowledgements
The research leading to these results has received funding from Federal Ministry of Economics and Technology (BMWi) under grant agreement no. KA3053503CJ3 and from the European Unions H2020 Programme (H2020/2014-2020) under grant agreement no. 732513.
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Schmidt, V., Pott, A. (2018). Bending Cycles and Cable Properties of Polymer Fiber Cables for Fully Constrained Cable-Driven Parallel Robots. In: Gosselin, C., Cardou, P., Bruckmann, T., Pott, A. (eds) Cable-Driven Parallel Robots. Mechanisms and Machine Science, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-319-61431-1_8
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DOI: https://doi.org/10.1007/978-3-319-61431-1_8
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