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Open AccessTechnical Note
Robotics 2018, 7(4), 75; https://doi.org/10.3390/robotics7040075

Nominal Stiffness of GT-2 Rubber-Fiberglass Timing Belts for Dynamic System Modeling and Design

1
Department of Industrial and Enterprise Systems Engineering, University of Illinois at Urbana-Champaign, 117 Transportation Building, 104 South Mathews Avenue, Urbana, IL 61801, USA
2
Department of Mechanical Science and Engineering, University of Illinois at Urbana-Champaign, 144 Mechanical Engineering Building, 1206 West Green Street, Urbana, IL 61801, USA
3
Department of Aerospace Engineering, University of Illinois at Urbana-Champaign, 306 Talbot Laboratory, 104 South Wright Street, Urbana, IL 61801, USA
*
Author to whom correspondence should be addressed.
Received: 20 October 2018 / Revised: 18 November 2018 / Accepted: 19 November 2018 / Published: 21 November 2018
(This article belongs to the Special Issue Kinematics and Robot Design I, KaRD2018)
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Abstract

GT-style rubber-fiberglass (RF) timing belts are designed to effectively transfer rotational motion from pulleys to linear motion in robots, small machines, and other important mechatronic systems. One of the characteristics of belts under this type of loading condition is that the length between load and pulleys changes during operation, thereby changing their effective stiffness. It has been shown that the effective stiffness of such a belt is a function of a “nominal stiffness” and the real-time belt section lengths. However, this nominal stiffness is not necessarily constant; it is common to assume linear proportional stiffness, but this often results in system modeling error. This technical note describes a brief study where the nominal stiffness of two lengths ( 400 m m and 760 m m ) of GT-2 RF timing belt was tested up to breaking point; regression analysis was performed on the results to best model the observed stiffness. The experiments were performed three times, providing a total of six stiffness curves. It was found that cubic regression mod els ( R 2 > 0.999 ) were the best fit, but that quadratic and linear models still provided acceptable representations of the whole dataset with R 2 values above 0.940 . View Full-Text
Keywords: timing belt; belt stiffness; dynamic system modeling; mechatronic systems; 3D printers; robotics timing belt; belt stiffness; dynamic system modeling; mechatronic systems; 3D printers; robotics
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Wang, B.; Si, Y.; Chadha, C.; Allison, J.T.; Patterson, A.E. Nominal Stiffness of GT-2 Rubber-Fiberglass Timing Belts for Dynamic System Modeling and Design. Robotics 2018, 7, 75.

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