2017
Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications
Anirban Mazumdar, Steven J. Spencer, Clinton Hobart, Jeffrey G. Dabling, Timothy Blada, Kevin Dullea +2
RA-L 2017
This paper describes the design and performance of a synthetic rope on sheave drive system. This system uses synthetic ropes instead of steel cables to achieve low weight and a compact form factor. We demonstrate how this system is capable of 28-Hz torque control bandwidth, 95% efficiency, and quiet