Experimental Identification of Stress-Strain Material Models of UHMWPE Fiber Cables for Improving Cable Tension Control Strategies
P. Tempel, F. Trautwein, and A. Pott. Advances in Robot Kinematics 2018, page 258--265. Cham, Springer International Publishing, (2019)
Abstract
Ultra-high-molecular-weight polyethylene fibers like Dyneema or Spectra are employed in a vast variety of cable-driven parallel robots. The stress-strain dynamics of such cables are highly non-linear with time-varying mechanical parameters, resulting in involved modeling and control of robot dynamics. To improve controllability of cable robots, the cable stress-strain dynamics need to be known and explicitly considered feedforward or closed-loop control. A model can only be deemed suitable, if its inherent dynamics is confirmed through experiments and if it allows for reasonable parameter estimation. We present results of experimental identification of stress-strain dynamics of UHMWPE cables made of Dyneema in different stages of operation. Due to the internal material mechanics, four stages can be identified: the tensing and relaxing transition as well as plateaus coming from either. The implications of verified and parametrized stress-strain models for cable robot tension control strategies is expedited.
%0 Conference Paper
%1 10.1007/978-3-319-93188-3_30
%A Tempel, Philipp
%A Trautwein, Felix
%A Pott, Andreas
%B Advances in Robot Kinematics 2018
%C Cham
%D 2019
%E Lenarcic, Jadran
%E Parenti-Castelli, Vincenzo
%I Springer International Publishing
%K cable-driven cable-robot isw parallel robot
%P 258--265
%T Experimental Identification of Stress-Strain Material Models of UHMWPE Fiber Cables for Improving Cable Tension Control Strategies
%X Ultra-high-molecular-weight polyethylene fibers like Dyneema or Spectra are employed in a vast variety of cable-driven parallel robots. The stress-strain dynamics of such cables are highly non-linear with time-varying mechanical parameters, resulting in involved modeling and control of robot dynamics. To improve controllability of cable robots, the cable stress-strain dynamics need to be known and explicitly considered feedforward or closed-loop control. A model can only be deemed suitable, if its inherent dynamics is confirmed through experiments and if it allows for reasonable parameter estimation. We present results of experimental identification of stress-strain dynamics of UHMWPE cables made of Dyneema in different stages of operation. Due to the internal material mechanics, four stages can be identified: the tensing and relaxing transition as well as plateaus coming from either. The implications of verified and parametrized stress-strain models for cable robot tension control strategies is expedited.
%@ 978-3-319-93188-3
@inproceedings{10.1007/978-3-319-93188-3_30,
abstract = {Ultra-high-molecular-weight polyethylene fibers like Dyneema or Spectra are employed in a vast variety of cable-driven parallel robots. The stress-strain dynamics of such cables are highly non-linear with time-varying mechanical parameters, resulting in involved modeling and control of robot dynamics. To improve controllability of cable robots, the cable stress-strain dynamics need to be known and explicitly considered feedforward or closed-loop control. A model can only be deemed suitable, if its inherent dynamics is confirmed through experiments and if it allows for reasonable parameter estimation. We present results of experimental identification of stress-strain dynamics of UHMWPE cables made of Dyneema in different stages of operation. Due to the internal material mechanics, four stages can be identified: the tensing and relaxing transition as well as plateaus coming from either. The implications of verified and parametrized stress-strain models for cable robot tension control strategies is expedited.},
added-at = {2019-03-24T15:08:54.000+0100},
address = {Cham},
author = {Tempel, Philipp and Trautwein, Felix and Pott, Andreas},
biburl = {https://puma.ub.uni-stuttgart.de/bibtex/24e22355557c192443928b1a3b823b53e/isw-bibliothek},
booktitle = {Advances in Robot Kinematics 2018},
editor = {Lenarcic, Jadran and Parenti-Castelli, Vincenzo},
interhash = {dd29c05b116ea8db93c20512a3ff86b3},
intrahash = {4e22355557c192443928b1a3b823b53e},
isbn = {978-3-319-93188-3},
keywords = {cable-driven cable-robot isw parallel robot},
pages = {258--265},
publisher = {Springer International Publishing},
timestamp = {2019-03-24T14:08:54.000+0100},
title = {Experimental Identification of Stress-Strain Material Models of UHMWPE Fiber Cables for Improving Cable Tension Control Strategies},
year = 2019
}