Analysis and simulation of Transmission Capability of Precise Cable Drive based on RecurDyn

Precise cable drive is a flexible friction transmission method that utilizes the proper preloaded cables wrapped around drive capstans and output shafts. It possesses many merits, such as flexible layout, high precision, and lightweight. It is widely used in many dexterous precise electromechanical devices and servomechanisms. Analytical methods are usually used to investigate the transmission capability of precise cable drive. This paper develops multi-body dynamic simulation method for predicting the transmission capability of precise cable drive by using RecurDyn. The cable is modeled by the finite cable element based on an absolute nodal coordinate formulation. The interaction between the cable and the pulley is described by the penalty method. Numerical examples are presented to illustrate the effectiveness and efficiency of the proposed method for estimating the transmission capability. The result is useful to predict the transmission capability of precise cable drive in practical applications.