Prediction of Transmission Error of Cable Precision Drive based on BP Neural Network

Abstract

For cable drive with different rope number,the transmission error prediction method is explored based on BP neural network. A prediction model for transmission error is developed by a double hidden layer BP neural network. The input parameters of the model are preload,load and rotation angle respectively. The output parameter is the transmission error. The transmission errors under different conditions are tested firstly.And then the results are divided to training samples and prediction samples,which are used to train the network and verify the performance of the trained network. The experiment results show that the transmission error increases with the increase of rotation angle at the range of 0 to 180. And the biggest value is 5. 6 mrad,the prediction error is less than 0. 294 mrad. In conclusion,the double hidden layer BP neural network is effective to predict transmission error.

Keywords

• Cable drive;Transmission error prediction;BP neural network;Preload force;Load