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Investigating the Effect of Cable Force on Winch Winding Accuracy for Cable-Driven Parallel Robots

: Schmidt, Valentin; Mall, Alexander; Pott, Andreas


Flores, Paulo (Ed.) ; International Federation for the Promotion of Mechanism and Machine Science:
New Trends in Mechanism and Machine Science. From Fundamentals to Industrial Applications : European Conference on Mechanism Science (EUCOMES 2014 Conference), 16.-19. September 2014, Guimarães, Portugal
Cham: Springer International Publishing, 2015 (Mechanisms and Machine Science 24)
ISBN: 978-3-319-09410-6 (Print)
ISBN: 978-3-319-09411-3 (Online)
European Conference on Mechanism Science (EUCOMES) <5, 2014, Guimarães/Portugal>
European Commission EC
FP7; 285404; CableBot
Fraunhofer IPA ()
cable-driven parallel robot; CableBot; Roboter; Industrieroboter; Wickeln

This paper focuses on the winch winding properties of typical driving mechanisms of cable-driven parallel robots. While cable properties have already been studied, the accuracy of winding mechanisms to control cable robots and the interaction with cable properties has yet to be investigated. To initiate this, some properties believed to affect the winding accuracy are outlined. It was found that cable force can have a significant effect not only because of finite stiffness, but due to ovalisation and elongation effects of the rope. An experimental test on ovalisation showed significant deviations from a standard approximation to evaluate transmission accuracy. This effect can change the accuracy of winding mechanisms by 0.3–1.2 %. Thus when investigating cable-robot accuracy the winch winding properties cannot be ignored.