Investigation of Repetitive Bending Durability of Synthetic Fiber Ropes

A synthetic fiber rope, which is lightweight and has a high tensile strength and flexibility, is receiving considerable attention as a replacement for a stainless steel wire rope. This letter describes its ability to endure repetitive bending. We performed experiments in conformity with the ISO 2020-2 standard using ten synthetic fiber ropes made of different materials and with different compositions, along with two stainless steel wire ropes. As a result, a 7 $\times$ 19 stainless steel wire rope and an ultrahigh molecular weight polyethylene rope (SK-71), which has a high resistance to frictional wear, did not experience significant loss of tensile strength. However, repeated bending caused the tensile strength deterioration of the other synthetic fiber ropes, which had low resistances to frictional wear. In the case of steep bending with a small pulley or bending with high tension, we experimentally revealed that some synthetic fiber ropes are superior to stainless steel wire ropes.

[1]  J. L. Cooper,et al.  Aramid Fiber Kevlar® and its Applications , 1987 .

[2]  Shozaburo Hiratsuka,et al.  Development of High Strengh and High Modulus Para-Aramid Fiber. , 1992 .

[3]  J. L. J. V. Dingenen 3 – Gel-spun high-performance polyethylene fibres , 2001 .

[4]  R. Durairaj Resorcinol: Chemistry, Technology and Applications , 2005 .

[5]  S. Bull,et al.  Design modifications to increase fatigue life of fiber ropes , 2005, Proceedings of OCEANS 2005 MTS/IEEE.

[6]  Koichi Suzumori,et al.  Development of very high force hydraulic McKibben artificial muscle and its application to shape-adaptable power hand , 2009, 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO).

[7]  Michael P. Summers Rope Selection for Rope Drive Transmissions Used in Robotic Manipulation , 2010 .

[8]  Junichi Urata,et al.  Design concept of detail musculoskeletal humanoid “Kenshiro” - Toward a real human body musculoskeletal simulator , 2012, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012).

[9]  Gen Endo,et al.  Development of a coupled tendon-driven 3D multi-joint manipulator , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[10]  Hiroshi Kaminaga,et al.  Low-friction tendon-driven robot hand with carpal tunnel mechanism in the palm by optimal 3D allocation of pulleys , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[11]  Werner Friedl,et al.  "FRCEF: The new friction reduced and coupling enhanced finger for the Awiwi hand" , 2015, 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids).

[12]  Gen Endo,et al.  TITAN-XIII: sprawling-type quadruped robot with ability of fast and energy-efficient walking , 2016 .

[13]  Y. Yan,et al.  2 – Developments in fibers for technical nonwovens , 2016 .

[14]  Gen Endo,et al.  Basic study for drive mechanism with synthetic fiber rope – investigation of strength reduction by bending and terminal fixation method , 2016, Adv. Robotics.

[15]  Anirban Mazumdar,et al.  Synthetic Fiber Capstan Drives for Highly Efficient, Torque Controlled, Robotic Applications , 2017, IEEE Robotics and Automation Letters.

[16]  Oskar von Stryk,et al.  New insights in synthetic fiber rope elongation and its detection for ultra lightweight tendon driven series elastic robots , 2017, 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM).