Theoretical and experimental determination of capstan drive slip error

DOI10.1016/J.MECHMACHTHEORY.2009.10.013MaRDI QIDQ994141zbMATH OpenOpenAlexFDO

Authors Ozgur Baser, E. Ilhan Konukseven

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)

Recommendations

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Cites work

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

Cited in

(3)

• 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
• From transmission error measurement to pulley-belt slip determination in serpentine belt drives: influence of tensioner and belt characteristics

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