Abstract:
This paper presents a systematic method for experimental characterization of Bowden cable friction. A novel tension measurement method using a motion capture system and a...Show MoreMetadata
Abstract:
This paper presents a systematic method for experimental characterization of Bowden cable friction. A novel tension measurement method using a motion capture system and a spring is introduced. With the tension measurement method, the effects of nine variables on friction are investigated. Experimental results show that i) a combination of 7×19 FEP-coated stainless steel cable and double-sheaths has the highest force transmission efficiency; ii) smaller coefficient of friction material, smaller cable moving speed, shorter cable length, longer clamp distance, stiffer cable/sheath all help to increase the force transmission efficiency; and iii) the static friction pretension ratio only decreases as the coefficient of friction of cable/sheath decreases or as cable/sheath stiffness increases. We have generated guidelines for the Bowden cable performance which may help robotics researchers in choosing materials for the Bowden cables and designing control systems for actuation.
Date of Conference: 31 May 2014 - 07 June 2014
Date Added to IEEE Xplore: 29 September 2014
Electronic ISBN:978-1-4799-3685-4
Print ISSN: 1050-4729