Abstract This paper presents the modeling and verification of a multi-winding rope winch for facade operation. The winch enables a robot to ascend and descend high-rise buildings using synthetic fiber ropes and can easily be installed on buildings without a gantry. To improve the positioning accuracy for facade operation, a rope-winch position model that accurately tracks the position of the winch is derived. This model comprises deformation from the rope tension and displacement from slip between the rope and winch. Owing to the nonlinearity of the synthetic-fiber-rope characteristics, the stiffness levels with and without preload are derived separately. Based on the rope stiffness, deformation from the elasticity is analytically derived. The slip length is estimated using the capstan equation, and the total slip through the differential gear mechanism is estimated. To verify the model, experiments are conducted to track the positional profile through the application of open-loop control and feedforward control on a test bench. The prediction model can maintain the root mean square error of the position tracking within 0.8%.

中文翻译：

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立面作业多卷绳绞车建模与验证

摘要 本文介绍了一种用于立面作业的多绕绳绞车的建模和验证。绞盘使机器人能够使用合成纤维绳索升降高层建筑，并且无需龙门架即可轻松安装在建筑物上。为提高立面作业的定位精度，推导了准确跟踪绞车位置的绳绞机位置模型。该模型包括绳索张力的变形和绳索和绞车之间的滑动位移。由于合成纤维绳特性的非线性，带和不带预紧力的刚度水平分别推导出来。基于绳索刚度，弹性变形是解析导出的。使用绞盘方程估计滑移长度，估计通过差速齿轮机构的总滑差。为了验证该模型，通过在测试台上应用开环控制和前馈控制进行了跟踪位置轮廓的实验。该预测模型可以将位置跟踪的均方根误差保持在 0.8% 以内。