High dynamic stresses at high strength fibre ropes in multi-rope kinematic robot systems

高强度纤维绳在绳驱动应用中正面临着日益增长的兴趣。强度等基本特性已经具有竞争力，甚至优于钢丝绳；然而，其他限制仍然阻碍了它们充分可靠的工业应用。高强度纤维绳的优点确实对应用程序的可用性有非常重要的影响的一个特定应用是在具有多绳运动学的机器人系统中的使用。这些系统的基本要求是（除其他外）高精度与高效率配对，这意味着高处理速度以及高加速和减速。已经进行了许多测试来模拟各种负载设置。然而，对高速使用的纤维绳索的最新测试仍然大多缺失。本文介绍了高强度纤维绳在物料搬运中的应用现状，讨论了这些绳的优缺点，并指出了绳驱动机器人系统研究和改进的最重要挑战。

High strength fibre ropes are facing a strongly increasing interest for rope driven applications. Basic characteristics such as strength are already competitive or even outperforming wire ropes; however other limitations still prevent their full reliable industrial use. One particular application where the advantages of high strength fibre ropes do have an extraordinary important effect on the usability of the application is the use in robot systems with multi-rope kinematics. Basic requirements of these systems are (among others) high accuracy paired with a high efficiency, which means high process velocities as well as high accelerations and decelerations. Many tests have already been conducted to simulate a wide range of load settings. However up to date testing of fibre ropes in high speed usage is still mostly missing. This article describes the state of the art of high strength fibre rope usage in material handling, discusses advantages and disadvantages of these ropes and points out the most important challenges for research and improvement of rope driven robot systems.