A Study on Drive Capstan Stiffness of Cable-Driven Picking Manipulator

Hu Luo; Yong Gang Tang; Jun Shen

doi:10.4028/www.scientific.net/AMR.605-607.1113

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HomeAdvanced Materials ResearchAdvanced Materials Research Vols. 605-607A Study on Drive Capstan Stiffness of Cable-Driven...

A Study on Drive Capstan Stiffness of Cable-Driven Picking Manipulator

Abstract:

A mathematic model of capstan drive stiffness is presented. The influence of preload force, coefficient of friction, wraps of cable and load on the transmission stiffness of a differential cable-driven picking manipulator is analyzed. It is shown that capability of transmission, loads and precision can be considered comprehensively in the design of drive capstan.

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Periodical:

Advanced Materials Research (Volumes 605-607)

Pages:

1113-1119

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.605-607.1113

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Online since:

December 2012

Authors:

Hu Luo, Yong Gang Tang, Jun Shen

Keywords:

Capstan Drive Stiffness, Mathematics Model

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