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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    Title :

    A Study on Drive Capstan Stiffness of Cable-Driven Picking Manipulator



    Published in:

    Advanced Materials Research ; 605-607 ; 1113-1119


    Publication date :

    2012-12-13


    Size :

    7 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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