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

高强度纤维绳索在绳索驱动应用方面正面临着越来越大的兴趣。钢丝绳的基本特性，如强度，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在工业上的充分可靠应用。高强度纤维绳的优点对应用的可用性确实有非常重要的影响的一个特殊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(尤其是)高精度和高效率，这意味着高加工速度以及高加速和高减速。已经进行了许多测试来模拟各种负载设置。然而，到目前为止，对高速使用的纤维绳的测试仍然很少。本文介绍了高强度纤维钢丝绳在物料搬运中的应用现状，讨论了这些钢丝绳的优缺点，指出了钢丝绳驱动机器人系统研究和改进面临的最大挑战。

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.