• 한국정밀공학회지
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• 제14권9호
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• pp.15-21
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• 1997

In this paper, a self-activated cable spooling system for seaborne winch is developed . The system consists of a hydraulic servo driving unit and a cable position measurement mechanism. To realize the cable spooling system, it is carried out the mathematical modelling of the system and designed the proportional controller through the system aalysis and the simulation. The cable spooling system is tested and evaluated to validate the performance of the controller. The test results shows a good traceability of the cable spooling system under disturbance of cable tension.

• 한국정밀공학회지
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• 제33권9호
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• pp.723-730
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• 2016

This paper presents a cable-driven hydraulic actuator named Cable Rod Hydraulic Actuator (CRHA). The cable actuating system is attractive for designing a compact joint in robotic applications since it can be installed remotely from the joint. Recently, cable rods have been used in pneumatic area for inertia reduction. However, designing cable rods in hydraulics is challenging because it is difficult to achieve flexibility and endurance simultaneously under high pressure conditions. In this paper, the cable rod, which consists of a cable and jacket, is proposed to meet both requirements. To design the CRHA, we determined the design parameters, such as cylinder size, and selected the cable rod's material by friction and leakage test. Finally, comparisons experiments about step and frequency responses with conventional hydraulic actuators were performed to assess feasibility for robotic joints, and the results show that the proposed system has good bandwidth and fast response as robotic joints.