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Title
Japanese:高強度化学繊維によるワイヤ駆動のための基礎的検討 第四報：長軸間距離試験機の製作と周波数応答 
English:Basic Study for Drive Mechanism with Synthetic Fiber Rope -Fourth report: Testing Machine for Long-distance Transmission and Frequency Response Measurement- 
Author
Japanese: 高田敦, 遠藤玄, 鈴森康一, 難波江裕之, 水谷義弘, 鈴木良郎.  
English: Atsushi Takata, Gen Endo, Koichi Suzumori, Hiroyuki Nabae, yoshihiro mizutani, Yoshirou Suzuki.  
Language Japanese 
Journal/Book name
Japanese:ロボティクス・メカトロニクス講演会2017講演論文集 
English:Proceedings of the 2017 JSME Conference on Robotics and Mechatronics 
Volume, Number, Page        
Published date May 10, 2017 
Publisher
Japanese:一般社団法人 日本機械学会 
English:The Japan Society of Mechanical Engineers 
Conference name
Japanese:日本機械学会ロボティクス・メカトロニクス講演会2017 
English:2017 JSME Conference on Robotics and Mechatronics 
Conference site
Japanese:福島県郡山市 
English:Kori-yama, Fukushima, 
File
Abstract Synthetic fiber ropes, which are lightweight and have high tensile strength and flexibility, have attracted attention as an alternative to stainless steel wire rope.〓This study clarifies various physical characteristics of synthetic fiber ropes to design a tendon-driven mechanism. 〓This paper investigates a viscoelasticity model for Ultra High molecular weight Polyethylene (UHPE) rope and its dynamic property applied to a long distant antagonistic tendon-driven servo system. 〓We confirm that UHPE can be modeled by four element model, and obtained its transfer function of a tendon-driven servo system.〓The validity of the transfer function was confirmed by a frequency response experiment. 〓%This paper takes note of performance of synthetic fiber rope on tendon-driven servo system. 〓%We estimated a viscoelasticity of a UHPE(Ultra High Molecular Weight Polyethylene) rope by four element model and using the viscoelasticity to obtained the transfer function of a tendon-driven servo system.

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