1 Introduction
2 Cable-Driven System Assembly
2.1 System Assembly
2.2 Force Analysis of Cables and the Maxwell Model
3 Experiments and Results
3.1 Experiment Setup
3.2 Stress Relaxation under Alternating Load
3.2.1 Stress Measurements
Diameter (mm) | ||||
---|---|---|---|---|
0.610 | 0.686 | 0.813 | ||
a
|
a
b
| 0.3949 | 0.4912 | 0.3856 |
a
t
| 0.3852 | 0.4894 | 0.3730 | |
b
|
b
b
| − 0.1415 | − 0.1174 | − 0.0972 |
b
t
| − 0.2057 | − 0.1439 | − 0.0977 | |
c
|
c
b
| 3.2620 | 3.3170 | 3.0930 |
c
t
| 6.3900 | 5.9800 | 6.5370 | |
d
|
d
b
| − 1.152 × 10−3 | − 9.184 × 10−4 | − 3.518 × 10−4 |
d
t
| − 6.289 × 10−4 | − 4.328 × 10−4 | − 9.061 × 10−5 | |
ts (min) |
ts
b
| 9.8593 | 14.6534 | 13.5996 |
ts
t
| 3.3925 | 6.5817 | 6.9740 |