Stabilization and modelling of tensile properties of braided synthetic fibre rope for dynamic loading

摘要

This article discusses the stabilization in longitudinal elastic modulus of braided high modulus polyethylene rope for dynamic loading in tendon-driven robot by mean of preload treatment. Dynamic loading was presented by impact loading which expressed in term of number of drops applied on the rope. Different preload levels were applied on the ropes before they were tested in five consecutive impact loadings to investigate the stability of rope modulus. The stabilization of rope modulus was performed based on experimental data of impact loading of the preloaded ropes and the proposed empirical equation which takes number of drop and preload level into account. Furthermore, spring-dashpot model was used in order to estimate tensile properties and study strain of the rope under impact loading. Results from spring-dashpot model and experimental data are in very good agreement. By using this model, the delayed time between the input (stress) and output (strain) could be estimated.