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  Department of Robotics and Mechatronics Engineering Theses Master

Active Tension Control Mechanism for Slack Suppression in Wire-Rope-Based Actuation System

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dc.contributor.advisor 오세훈 -
dc.contributor.author Sangyeob Lee -
dc.date.accessioned 2026-09-01T19:31:51Z -
dc.date.available 2026-09-01T19:31:51Z -
dc.date.issued 2026 -
dc.identifier.uri https://scholar.dgist.ac.kr/handle/20.500.11750/60786 -
dc.identifier.uri http://dgist.dcollection.net/common/orgView/200001018103 -
dc.description Tension Control, Slack Suppression, Wire Rope System, Rope Feeding Mechanism -
dc.description.tableofcontents Ⅰ. Introduction 1
1.1 Motivation and Challenges 1
1.1.1 Wire-Rope-Based Actuation Systems 1
1.1.2 Limitations of Wire-Rope-Based Actuation Systems 2
1.2 Review of Existing Approaches 4
1.2.1 Antagonistic Actuation 4
1.2.2 Slack-Enabling Mechanism 5
1.2.3 Separated Tendon Structure 7
1.3 Objectives and Overview 8
1.4 Structure of Thesis 10
ⅠⅠ. Proposed mechanism 11
2.1 System Overview 11
2.1.1 Baseline Configuration: Drum–Rope System 11
2.1.2 Active Internal Tension Generation: RFAM 13
2.1.3 Selective Traction Transmission: CAM 15
2.1.4 Direct Internal Tension Measurement: WTSM 17
2.1.5 Complete System Architecture 19
2.2 Rope Feeding Assist Module （RFAM） 21
2.2.1 Slack Recovery and Tension Generation 21
2.2.2 Gear Train Structure 23
2.2.3 Kinematic Relation and Linear Velocity Ratio 24
2.2.4 Prototype Parameters and Selected λ 25
2.3 Contact Adjustment Module （CAM） 26
2.3.1 Operating Principle and Structure 26
2.3.2 RC Servo Position Error as Normal Force Indicator 28
2.3.3 Normal Force Identification 30
2.4 Wire Tension Sensing Module （WTSM） 32
2.4.1 Measurement Principle 33
2.4.2 State-Dependent Interpretation 35
2.4.3 Roles of the WTSM Measurement 36
ⅠⅠⅠ. Control and estimation 38
3.1 Modeling Assumptions 38
3.2 Internal Tension Control 40
3.2.1 Velocity-Scheduled Internal Tension Control 41
3.2.2 Tension Oscillation Suppression via Minimum Contact 44
3.3 External Tension Estimation 46
3.3.1 Estimation Principle under CAM Contact 46
3.3.2 Current-Based RFAM Traction Model 47
3.3.3 Piecewise-Linear Identification and Final Estimator 49
ⅠV. Experimental validation 52
4.1 Experimental Setup 52
4.2 Experiment 1 – Internal Tension Control during Feed-Out 54
4.3 Experiment 2 – External Tension Estimation 59
V. Application-level validation 64
5.1 Application Scenario 65
5.2 Control and Experimental Conditions 67
5.3 Results 69
VⅠ. Conclusion and future works 72
6.1 Conclusion and Future Works 72
References 74
Appendix A. RFAM–drum linear velocity ratio selection 76
A.1 Lower Bound: Slack Recovery Requirement 77
A.2 Upper Bound: RFAM Traction Capacity Requirement 78
A.3 Selection 79
Appendix B. RC servo modification for CAM normal force observation 80
B.1 Indirect Observation Principle and RC Servo Modification 80
B.2 Filter Circuit 82
Appendix C. RFAM/CAM contact effect on tension estimation 83
C.1 Experimental Setup 83
C.2 Results 86
국문요약 88		 -
dc.format.extent 88 -
dc.language eng -
dc.publisher DGIST -
dc.title Active Tension Control Mechanism for Slack Suppression in Wire-Rope-Based Actuation System -
dc.title.alternative 와이어 로프 기반 구동 시스템의 슬랙 억제를 위한 능동 장력 제어 메커니즘 -
dc.type Thesis -
dc.identifier.doi 10.22677/THESIS.200001018103 -
dc.description.degree Master -
dc.contributor.department Department of Robotics and Mechatronics Engineering -
dc.date.awarded 2026-08-01 -
dc.publisher.location Daegu -
dc.description.database dCollection -
dc.citation XT.RM 이52 202608 -
dc.date.accepted 2026-07-21 -
dc.contributor.alternativeDepartment 로봇및기계전자공학과 -
dc.subject.keyword Tension Control, Slack Suppression, Wire Rope System, Rope Feeding Mechanism -
dc.contributor.affiliatedAuthor Sangyeob Lee -
dc.contributor.affiliatedAuthor Sehoon Oh -
dc.contributor.alternativeName 이상엽 -
dc.contributor.alternativeName Sehoon Oh -
dc.rights.embargoReleaseDate 2028-08-31 -
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