Abstract

This article discusses the stabilization in longitudinal elastic modulus of braided high modulus polyethylene rope for dynamic loading in tendon-driven robot by mean of preload treatment. Dynamic loading was presented by impact loading which expressed in term of number of drops applied on the rope. Different preload levels were applied on the ropes before they were tested in five consecutive impact loadings to investigate the stability of rope modulus. The stabilization of rope modulus was performed based on experimental data of impact loading of the preloaded ropes and the proposed empirical equation which takes number of drop and preload level into account. Furthermore, spring-dashpot model was used in order to estimate tensile properties and study strain of the rope under impact loading. Results from spring-dashpot model and experimental data are in very good agreement. By using this model, the delayed time between the input (stress) and output (strain) could be estimated.

摘要

本文讨论了通过预加载处理在肌腱驱动机器人中动态加载编织高模量聚乙烯绳索纵向弹性模量的稳定性。动态载荷由冲击载荷表示，以施加在绳索上的滴数表示。在对绳索进行五次连续冲击载荷测试之前，对绳索施加了不同的预紧力水平，以研究绳索模量的稳定性。绳索模量的稳定是基于预紧绳索的冲击载荷实验数据和提出的考虑跌落次数和预紧力水平的经验方程。此外，使用弹簧缓冲器模型来估计拉伸性能和研究冲击载荷下绳索的应变。弹簧减震器模型和实验数据的结果非常吻合。通过使用该模型，可以估计输入（应力）和输出（应变）之间的延迟时间。