A Study on Drive Capstan Stiffness of Cable-Driven Picking Manipulator
2012
A mathematic model of capstan drive stiffness is presented. The influence of preload force, coefficient of friction, wraps of cable and load on the transmission stiffness of a differential cable-driven picking manipulator is analyzed. It is shown that capability of transmission, loads and precision can be considered comprehensively in the design of drive capstan.
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