%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 }