Theoretical and experimental determination of capstan drive slip error

DOI10.1016/j.mechmachtheory.2009.10.013zbMath1359.70005OpenAlexW2044013801MaRDI QIDQ994141

E. Ilhan Konukseven, Ozgur Baser

Publication date: 17 September 2010

Published in: Mechanism and Machine Theory (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.mechmachtheory.2009.10.013

zbMATH Keywords

transmission errorcable/wire capstan drivecable/wire-based robotslip error

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Related Items (2)

Comparative study of cable parallel manipulators with and without hybrid-driven planar five-bar mechanism ⋮ Planar equilibria of an elastic rod wrapped around a circular capstan

Cites Work

• Capstan equation including bending rigidity and non-linear frictional behavior
• A new cable-based parallel robot with three degrees of freedom

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