Bundled Wire Drive: Proposal and Feasibility Study of a Novel Tendon-Driven Mechanism Using Synthetic Fiber Ropes

Abstract

This paper proposes a new wire-driven mechanism in order to relay many ropes very simply and compactly. Ropes pass through in a joint while bundled. Synthetic fiber rope can slide and twist, exploiting its low friction coefficient. In order to use this mechanism, it is necessary to investigate the influence of sliding on tension transmission efficiency and rope strength. The results of this study reveal that it is feasible for a robot arm using this mechanism to have more than 15 joints. Sliding has little influence on rope strength. The feasibility of this system was studied through hardware experiments and its mechanical performance was evaluated by constructing a horizontally extendable manipulator with three degrees of freedom.

Repetitive Twisting Durability of Synthetic Fiber Ropes

“…Moreover, the results presented in this paper can provide a quantitative evaluation criterion for the number of movements of previously proposed robots. In our previous work [22], we have proposed a 3-DOF horizontally articulated robot arm (Fig. 6) based on "bundled wire drive" using synthetic fiber ropes.…”

“…This method is designed to simplify the mechanism by routing multiple ropes in a bundle because of the low friction coefficient of synthetic fiber ropes. Further details are provided in the literature [22]. A maximum of ±174 deg of twist is applied at the joint axis via four ropes.…”

Experimental-based statistical models for the tensile characterization of synthetic fiber ropes: a machine learning approach

“…However, rope tensile strength is the most apparent peculiarity for several applications. For instance, rope usage in the mooring demands 5 – 7 , netting structures 2 , energy absorbers in the personal fall protection vertical lifelines 8 , replacing the metal ropes in the tendon-driven robots 9 , strengthening the concrete columns through confinement 10 – 12 , and improving the seismic performance of the masonry walls 13 . Considering these different applications, it was incumbent upon the researchers.…”