Basic study for wire driving with synthetic fiber rope

-11th report: Tension transfer efficiency of passive pulley-

Abstract

We have developed a rugged terrain mobile robot equipped with an elastic telescopic arm for the purpose of improving moving performance on rugged terrain. The problem of the elastic telescopic arm is the low tension transfer efficiency of the passive pulley. In order to investigate the tension transfer efficiency, an experiment was conducted to obtain the relationship between the tension transfer efficiency and D/d, where D and d are the pully diameter and the wire diameter, respectively. We revealed that the tension transfer efficiency rapidly decreases when D/d is less than 10. Moreover, loss of the bering is not dominant reason for the efficiency decrease.