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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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