Transverse Oscillation of Precise Cable Drive System

Abstract

Precise cable drive has been developed as an alternative transmission element to gearbox, belt and pulleys, chains and sprocket in Electro-Optical Tracking system. Precise cable drive has several significant advantages including backlash free, high stiffness, high efficiency, no lubrication etc. This paper develops analytical methods to predict the transverse oscillation frequency of precise cable drive to enable designers to better assess dynamic performance in the design study phase. Theoretical formulation of transverse oscillation equation for precise cable drive is carried out based on Hamiltons principle taking into account flexural rigidity of cable. Furthermore, the transverse oscillation frequency is obtained from the transverse oscillation equation assuming small and linear vibration. Parametric studies are conducted to evaluate the relationship between the oscillation properties and cable drive parameters.

Transmission Backlash Compensation and Grasping Force Estimation of Surgical Instruments for the Laparoscopic Minimally Invasive Surgery Robot

“…For the cable-pulley transmission model, Jung et al conducted more rigorous analyses to improve the classical capstan equation by including both rod bending rigidity and powerlaw friction into the formula, and also investigated the effects of important parameters on tension transmission efficiency [21,22]. Lu et al proposed analytical methods for predicting the transmission capability of a precise cable drive including the bending rigidity, and also developed the analytical methods required to predict the transverse oscillation frequency of a precise cable drive to enable designers to better assess dynamic performance in the design study phase [23,24]. Miyasaka et al proposed a method for modeling a closedcircuit cable-pulley-driven robotic system with a hysteresis cable tension model and a cable-pulley network friction model.…”

Torsional Vibration of Precise Cable Drive System

“…Torsional vibration of cable drive system is occurred in the transmission direction and the inherent frequency is one of the most important dynamic properties which is associated to the control bandwidth of the precise drive system. The dynamic including the torsional vibration of cable drive system is discussed in this paper, and the transverse oscillation of cable drive system was studied in another paper [4].…”