Theoretical and experimental determination of capstan drive slip error

2010-06-01
Baser, Ozgur
Konukseven, Erhan İlhan
Show full item record
Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.
267
views
0
downloads
Cable capstan drives are rotary transmission elements widely used in robot applications because of their low inertia, low backlash, high stiffness and simplicity. The cable in capstan drives is typically wrapped around the input and output drums in a figure-eight pattern and is the principle component for power transmission. In this paper an analytical method is developed for predicting the transmission error of capstan drives due to cable slippage on the drum so that designers can include this in the control phase of devices. The theoretical analysis was verified by experiments.
Cable/wire capstan drive, Cable/wire-based robot, Transmission error, Slip error
https://hdl.handle.net/11511/34606
MECHANISM AND MACHINE THEORY
Department of Mechanical Engineering, Article

Suggestions

Theoretical and experimental determination of dynamic friction coefficient for a cable-drum system
BAYAR, GÖKHAN; Konukseven, Erhan İlhan; Koku, Ahmet Buğra (2010-09-18)
Cable-drum systems are utilized to convert the rotary motion of a drum into a translational motion of a linear stage connected to the cable. These systems are preferred where low backlash and high stiffness is expected. They are commonly employed in machines like elevators, photocopy machines, printers, plotters etc. For machines having long working ranges, cable-drum systems employing a high resolution encoder offers a practical low cost alternative in position sensing. In most traditional machines and equ...
ANALYTICAL MODELLING AND MULTI-OBJECTIVE OPTIMIZATION OF AXIAL-FLUX PERMANENT MAGNET MACHINE WITH VARIOUS PCB STATORS AND DEVELOPMENT OF A GAN SWITCHED INTEGRATED MOTOR DRIVE PCB MOTOR
Tokgöz, Furkan; Keysan, Ozan; Department of Electrical and Electronics Engineering (2022-5-27)
The axial-flux machines have been gaining popularity thanks to their higher torque density and short axial length compared to radial-flux machines. However, they are not easy to mass manufacture because of their thin form factor. Printed circuit board (PCB) technology offers a solution to the problem by utilizing the highly developed, precise, and consistent PCB manufacturing process. However, having a low copper fill factor and low inductance are the main disadvantages of the PCB motors. This thesis focuse...
DYNAMIC ANALYSIS OF GEARED ROTORS BY FINITE-ELEMENTS
KAHRAMAN, A; Özgüven, Hasan Nevzat; HOUSER, DR; ZAKRAJSEK, JJ (1992-09-01)
A finite element model of a geared rotor system on flexible bearings has been developed. The model includes the rotary inertia of shaft elements, the axial loading on shafts, flexibility and damping of bearings, material damping of shafts and the stiffness and the damping of gear mesh. The coupling between the torsional and transverse vibrations of gears were considered in the model. A constant mesh stiffness was assumed. The analysis procedure can be used for forced vibration analysis of geared rotors by c...
Measurement of brushless dc motor characteristics and parameters and brushless dc motor design
Şahin, İlker; Ertan, Hulusi Bülent; Department of Electrical and Electronics Engineering (2010)
The permanent magnet motors have become essential parts of modern motor drives recently because need for high efficiency and accurate dynamic performance arose in the industry. Some of the advantages they possess over other types of electric motors include higher torque density, higher efficiency due to absence of losses caused by field excitation, almost unity power factor, and almost maintenance free construction. With increasing need for specialized PM motors for different purposes and areas, much effort...
Dynamic modeling of high precision servo systems with gear backlash
Yumrukçal, Zafer; Söylemez, Eres; Department of Mechanical Engineering (2013)
Although the mechanical solutions, like spring preloaded hinge mechanism, compensate for backlash in servo drive systems with high precision positioning requirement, these solutions may not be preferred because of their drawbacks like high friction forces/torques and diminished life cycles for mating gears. Besides, the use regular gear meshes could be enforced by any reason, like cost efficiency or simplicity of the solution. On such occasions, to maintain performance requirements like high positioning acc...
Citation Formats
O. Baser and E. İ. Konukseven, “Theoretical and experimental determination of capstan drive slip error,” MECHANISM AND MACHINE THEORY, pp. 815–827, 2010, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/34606.
METU IIS - Integrated Information Service open@metu.edu.tr