2019
DOI: 10.1186/s10033-019-0362-6
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Modified Pre-stretching Assembly Method for Cable-Driven Systems

Abstract: Soft cable-driven systems have been employed in many assembled mechanisms, such as industrial robots, parallel kinematic mechanism machines, medical devices, and humaniform hands. A pre-stretching process is necessary to guarantee the quality of cable-driven systems during the assembly process. However, the stress relaxation of cables becomes a critical concern during long-term operation. This study investigates the effects of non-uniform deformation and long-term stress relaxation of the driven cables owing t… Show more

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Cited by 1 publication
(2 citation statements)
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“…After the simulation, the displacement, velocity, acceleration and force curve of the driving joint of each unit parallel mechanism module can be obtained as outputs. The simulation results are shown in Figures 8,9,10,11,12,13. where x, y, z, φ x , φ y , and φ z denote the position and orientation of the distal moving platform of the HRETR. By observing the kinematic diagram of Figures 8,9,10,11,12,13 the kinematic law of each limb meets the preset requirements (both the initial and terminal velocity and the acceleration are 0).…”
Section: Dynamic Analysis Of the Hretrmentioning
confidence: 99%
See 1 more Smart Citation
“…After the simulation, the displacement, velocity, acceleration and force curve of the driving joint of each unit parallel mechanism module can be obtained as outputs. The simulation results are shown in Figures 8,9,10,11,12,13. where x, y, z, φ x , φ y , and φ z denote the position and orientation of the distal moving platform of the HRETR. By observing the kinematic diagram of Figures 8,9,10,11,12,13 the kinematic law of each limb meets the preset requirements (both the initial and terminal velocity and the acceleration are 0).…”
Section: Dynamic Analysis Of the Hretrmentioning
confidence: 99%
“…With the introduction of the concept of Industry 4.0, robots have become more and more essential in intelligent manufacturing [1]. Despite the wide application of robots in the industry [2][3][4][5], medical sector [6][7][8][9][10], aerospace field [11,12], and other fields, consumers' needs are becoming increasingly dynamic and complex [13]. This challenge can be resolved with better motion flexibility, stiffness and load capacity of robots.…”
Section: Introductionmentioning
confidence: 99%