Documente Academic
Documente Profesional
Documente Cultură
September 1998
International Standard Serial Number
ISSN 1066-5552
CONTENTS
Page
Abstract. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Description of rope structure ................................................................... 2
Structural elements ........................................................................ 2
Classification of wires. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Structural parameters ...................................................................... 3
Mathematical modeling ....................................................................... 4
Basic relationships. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Coordinate systems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Vector equations for single and double helices ................................................... 5
Single helix model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Double helix model. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Example for a specific wire rope ............................................................. 7
Model applications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Generation of wire paths. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Evaluation of geometric properties ............................................................ 12
Path length per lay of strand ............................................................... 12
Curvature and torsion .................................................................... 12
Analysis of deformations ................................................................... 15
Axial elongation and lateral contraction ...................................................... 16
Wire strain. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Reduced wire radius. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Radius of deformed helix ............................................................... 17
Angle of deformed helix .................................................................. 18
Bending and twisting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Conclusions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
ILLUSTRATIONS
TABLES
Page
N newton
Vectors
Other Symbols
c1, c2, ..., c6 coefficients in equations 44 and 45 xu, yu, zu projections of u on X, Y, and Z
on U-V plane
xv, yv, zv projections of v on X, Y, and Z
c7 common term in coefficients1 c
through c
6 "s angle of strand helix
Mentionof any company name or product does not constitute endorsement by the National Institute for Occupational Safety
and Health.
To receive other information about occupational safety and health problems, call 1-800-35-NIOSH (1-800-356-4674), or visit
the NIOSH Home Page on the World Wide Web at http://www.cdc.gov/niosh
MODEL FOR THE STRUCTURE OF ROUND-STRAND WIRE ROPES
1 2 3
By Richard C. Wang, Anthony J. Miscoe, and William M. McKewan
ABSTRACT
The behavior of wire ropes used in hoisting is not well understood. In an effort to improve this
understanding,the structure of round-strand wire ropes was analyzed. This report provides a generalized
mathematical model that completely describes the geometry of the wires. consists
It of two sets of vector
equationsand is valid for any round-strand wire rope. One set of equations is used to trace the paths of wires
that have the form of a single helix; the other is used for the paths of double helical wires. The specific
model for a 33-mm 6×19 Seale, independent wire rope core (IWRC), right regular lay wire rope was
presentedas an example. The paths and the geometric properties of the wires, which include the path length
per lay of strand, the curvature, and the torsion, were determined from this model. The effects of strain
deformation were analyzed, resulting in a system of equations for determining the structural parameters of
the deformed rope. In future work, the model could be used to analyze wire ropes of different constructions
so that a more scientifically based understanding of rope behavior can be established.
1
Mechanical engineer.
2
Mechanical engineer (retired).
3
Physical scientist.
Pittsburgh Research Laboratory, National Institute for Occupational Safety and Health, Pittsburgh, PA.
2
INTRODUCTION
Wire ropes are used for transmitting tensile forces. The The wire stresses in an independent wire rope core
main characteristics that make them so well suited to this func- (IWRC) were compared by Costello [1990]. It was found
tion are flexibility and strength. Wire ropes are used in many that,for 17,379 N (3,907 lb) of load applied to the IWRC, the
applications involving the safety of people, such as elevators, ski normal stress was 310,264 kPa (45,000 psi) in the central
tows, and cranes. In mine hoisting systems, wire rope is used to wireof the center strand and 279,196 kPa (40,494 psi) in the
transport personnel, product, and supplies between surface and centralwire of the outside strand. They were not only signif-
underground. The condition of the rope deteriorates during use icantly different, but also considerably higher than 247,591
due to fatigue, wear, and corrosion. Because the failure of a wire kPa (35,910 psi), the nominal stress computed by taking the
rope can be catastrophic, periodic inspection is needed so that the total load and dividing it by the total metallic area. It is
decision can be made as to whether the rope should be retired. thereforebelieved that the load distribution must be con-
Mine safety research has long been concerned with sidered for different rope constructions to prevent
improvingthe understanding of rope behavior to forestall the catastrophic failure of ropes in service. To do this, an
hazardous use of a degraded rope, yet prevent the understandingof the wire geometry that affects the load
uneconomical, premature retirement of still-useful rope. distribution must first be acquired. Although mathematical
Becausethere is widespread disagreement among specialists models have been used to study wire geometry by many
withregard to the indicators and methods now used to assess researchersin the past, these models can be used only for
hoistrope condition, the National Institute for Occupational single helical wires. Lee [1991] presented two sets of
Safetyand Health (NIOSH), Pittsburgh Research Laboratory, Cartesiancoordinate equations in matrix form for double
studiedthe factors responsible for the degradation of hoist helical wires, but did not give detailed derivation of the
ropesso that a better understanding of rope performance can
equations.One set of the equations was for regular lay ropes;
be developed.
the other was for lang lay ropes.
The current Federal retirement criteria for wire ropes
In this study, the rope structure was analyzed, and a gen-
used in mine hoisting specify the allowable reductions of
eralizedmathematical model describing the wire geometry in
ropediameter and outside wire diameter and the location and
anyrope construction with round strands was developed. The
number of broken wires [30 CFR4 56.19024, 57.19024,
modelcontains a rotation ratio, termed "relative rotation" in
75.1434,77.1434 (1997)]. However, their effects on strength
this report, which characterizes the relationship between the
loss for ropes of different constructions have not been
wireand the strand helices. In the use of rope with the ends
properly considered.This will lead to removing wire ropes
restrained from rotating, this relative rotation remains
from service at different stages where the actual loss of
constant,thus reducing the parameters in the models to the
strengthis either less or more than what is anticipated. To
angle of wire rotation only. The model is general enough
remedythis deficiency, the knowledge of how the total load
that any combination of wire and strand lay directions can be
is distributed among the wires in different rope constructions
needs to be acquired. In general, the load distribution is handledif the stated sign conventions for the angles of strand
dependent not only on the cross-sectional area of wires, but and wire rotation and the relative rotation are followed.
also on the specific arrangement of wires in a rope.
STRUCTURAL ELEMENTS
that of the strands, the rope is called a lang lay rope. If the
strandsare laid into the rope to the right in a fashion similar to
the threading in a right-hand bolt, they are right lay rope
strands. Conversely, strands laid into the rope to the left are
left lay rope strands. Different combinations of these wire
ropelays are shown in figure 2. The WireRope Users Manual
[Wire Rope Technical Board 1993] contains more detailed
informationon wire rope identification and construction. Most
of the rope produced today is preformed; this means that the
wiresare permanently shaped into the helical form they will
assumein the rope. This manufacturing process eliminates the
tendencyof the wires to unlay, usually hazardously, when they
are unrestrained or when the rope is cut.
CLASSIFICATION OF WIRES
STRUCTURAL PARAMETERS
3. Radiusof strand helix (rs): The perpendicular dis- is formed and negative if a left lay rope is formed. The angle
tance between the centroidal axis of the strand and the strand is expressed in radians, unless specified otherwise.
helix axis. 9. Angleof wire rotation (2w): The angle at which the
4. Radius of wire helix (rw): The perpendicular centroidalaxis of a helical wire sweeps out in a plane per-
distancebetween the centroidal axis of the wire and the wire pendicular to the wire helix axis. The angle is defined to be
helix axis. positivein a right-handed coordinate system if a right-hand
5. Circular helix : The strand helix having a constant strand isformed and negative if a left-hand strand is formed.
helical radius is a circular helix. Similarly, the wire helix The angle is expressed in radians, unless specified otherwise.
having a constant helical radius is also a circular helix. 10. Lay length of strand (Ls): The distance measured
6. Angle of strand helix ("s): The angle of a strand parallelto the axis of the rope around which the centroidal axis
helix at any point along the centroidal axis of the strand is the of a strand or wire makes one complete helical convolution.
angle between the tangent vector at that point, heading thein 11. Laylength (pitch) of wire (Lw): The distance meas-
directionthat the strand helix advances, and the plane that is uredparallel to the wire helix axis around which the centroidal
perpendicular to the strand helix axis and passes through that axis of a wire makes one complete helical convolution.
point. 12. Lengthof rope (Sr or z): The length measured along
7. Angle ofwire helix ("w): The angle of a wire helix the strand helix axis. It represents the distance that a strand
at any point along the centroidal axis of the wire is the angle helix has advanced on the axis of the rope.
between the tangent vector at that point, heading in the 13. Lengthof strand (Ss or w): The length measured
directionthat the wire helix advances, and the plane that is alongthe wire helix axis. It represents the distance that a wire
perpendicular to the wire helix axis and passes through that helix has advanced on the centroidal axis of the strand.
point. 14. Length of wire (Sw): The path length measured
8. Angleof strand rotation (2s): The angle at which the along the centroidal axis of the wire.
centroidalaxis of a helical strand sweeps out in a plane per-
pendicularto the strand helix axis. The angle is defined to be
positivein a right-handed coordinate system if a right lay rope
MATHEMATICAL MODELING
BASIC RELATIONSHIPS obtainedby using the developed view of the wire helix and are
expressed below.
In circular helices, the centroidal axes of both the wire
and the strand may be considered to be lying on right circular Ss ' rw2w tan("w) (3)
cylinders.Because the surface of a cylinder can be developed
into a plane, some basic relationships between each of the rw2w
Sw ' (4)
centroidalaxes and the other parameters can be established by cos("w )
using the developed views shown in figure 3.
Therelationships between the length of rope and the angle The lengthof strand, Ss, in equation 3 becomes the lay length
of strand rotation and between the length of strand and the of wire, Lw, when2w ' 2B.
angle of strand rotation can be obtained by using the Becausethe length of strand obtained from the wire helix
previouslydefined parameters and from the developed view of must equal that obtained from the strand helix for a given
the strand helix and are expressed below. lengthof rope, a new term "n" is defined to be the ratio of the
angleof wire rotation to the angle of strand rotation, which can
Sr ' rs2s tan("s) (1) be obtained from equations 2 and 3.
r s2s 2w ' rs
Ss ' (2) n ' (5)
cos("s ) 2s rw tan("w ) cos(
Figure 3.C Developed views of strand and wire helices. When the rope coordinate system is placed at the center of
the wire rope and a certain strand is specified to have an initial
betweenthe wire and strand helices, and is termed the "relative strand rotation angle of 0 at z ' 0, as shown in figure 4A, the
rotation"in this report. The relative rotation will be positive vector equation of the helix for the centroidal axis of this strand is
for lang lay ropes and negative for regular lay ropes.
R ' xs i % ys j % zs k. (6)
COORDINATE SYSTEMS
The subscript "s" indicates variables that are associated with a
Because several geometric characteristics of helices that single helix. The parametric equations of R for a circular
are related to load distribution and wire stresses can be easily strand helix are
evaluatedthrough vector analysis, vector equations describing
these helices are used to model the different wires in a rope. xs ' rs cos(2s), (7)
To distinguish vectors from scalars, boldface typeis used for
vectorsin the equations. Two three-dimensional, right-handed, ys ' rs sin(2s), (8)
rectangular Cartesian coordinate systems are selected to
analyze the strand and wire helices. and zs ' rs2s tan("s). (9)
Oneis a global fixed system called, for convenience, the
ropecoordinate system (figure 4A). The coordinates are X, Y, The strand rotation angle 2s in equations 7, 8, and 9 is positive
and Z with the origin at the center of the rope and the Z-axis for a right lay rope and negative for a left lay rope.
coincidingwith the rope axis. The X-Y plane is perpendicular Similarly,when the strand coordinate system is initially
to the rope axis and is the plane where the angle of strand placedon the centroidal axis of a certain strand at 2s ' 0, a
rotationis measured. The X-axis is arbitrarily selected so that certain wire is specified to have an initial angle of wire
it intersects, in its positive direction, with the centroidal axis rotation of 0 at w ' 0, as shown in figure 4B. The vector
of a strand. The X-axis is also used as the reference line from equation of the circular helix for the centroidal axis of this
whichthe angle of strand rotation, 2s, is measured. The unit wireis similar to equation 6 in the rope coordinate system and
vectorsdirected along the positive directions of X, Y, and Z can be written as
are i, j, and k, respectively.
7
Q ' u f % v g % w h. (10)
8
Figure 4.C Coordinate systems for single helix.A, rope coordinate system;B, strand coordinate system.
2w 2w
yw 'r s sin % r w cos(2w) sin
n n
2w
% r w sin("s) sin(2w)cos
n (25)
2w
z w ' r s tan("s) & r w cos("s) sin(2w) (26)
n
Figure 5.C Coordinate system for double helix. EXAMPLE FOR A SPECIFIC WIRE ROPE
Figure 6.C Strand arrangement of 33-mm 6×19 Seale, IWRC, Figure 7.C Cross section of IWRC strand S1.
right regular lay wire rope.
Table 1.C Structural parameters of strands in 33-mm 6×19 Seale wire rope
Table 2.C Structural parameters of wires in 33-mm 6×19 Seale wire rope
2. Wire W11
2s)
xs ' 1.536 cos( (7a)
2s)
ys ' 1.536 sin( (8a)
3. Wire 20
2s)
xs ' 4.287 cos( (7b)
2s)
ys ' 4.287 sin( (8b)
4. Wire W21
% 1.360 cos(2w)
% 1.285 sin(2w)
(25a)
5. Wire W30
2s)
xs ' 11.413 cos( (7c)
Figure 9.C Cross section of Seale strand S3.
2s)
ys ' 11.413 sin( (8c)
Because this is the center wire of the rope, its path is always
on the Z-axis. The vector equation has only one component in
the direction of k, and the magnitude is simply the rope length.
12
MODEL APPLICATIONS
Themodel for a specific wire rope can be easily obtained, configurations.Using the model developed in this report, the
as shown in the example above, and has many practical appli- wire paths can be easily generated by a computer. They not
cations. It can be used to generate the wire paths and to eval- only reveal the shapes of the wire paths, but also are useful in
uatethe geometric properties of the wires. The effect of defor- locatingthe places where a wire will be rubbed by the other
mation can be determined by substituting the structural wiresand in determining the interval at which an outer wire
parametersof the deformed rope into the original model. The will be exposed on the rope surface.
model also has other applications, such as predicting damage Typicalpaths of single helical wires generated by equa-
patternsthrough external and internal wear, examining and tions 7a-8a-9a, 7b-8b-9b, and 7c-8c-9c for wires W11, W20
improvingthe design of a rope construction prior to manu- and W30, respectively, are shown in figure 10. The paths
facturing,and producing three-dimensional pictures of the shownare in about one lay of strand S3. Typical paths of
wires for computer analysis. doublehelical wires generated by equations 24a-25a-26a, 24b-
25b-26b,and 24c-25c-26c for wires W21, W31, and W32, re-
GENERATION OF WIRE PATHS spectively,are shown in figures 11 through 13. The paths
shownare in about two lays of the strand formed by each wire.
As described earlier, the wires in wire ropes have three The reason for the major difference between the shape of the
forms: straight, single helix, or double helix. The only W21path and that of the W31 and W32 paths is that strand S2,
straightwire in a rope is the center wire in an IWRC. The whichcontains wire W21, is a lang lay strand, whereas strand
wiresaround the center wire forming the center strand and the S3,which contains W31 and W32, is a regular lay strand. The
centerwires in the outer strands of the core and in the surface side views ofall wire paths show much sharper turns than the
strandshave the shape of a single helix. The wires forming the actual wire paths. This is because much larger scales have
o u t e r s t r a n d s been selected on the Y coordinate than those on the
of the core and the surface strands except their center wires Z coordinate of these figures so that more of their paths can be
have double helical paths that are very complex in their viewed.
13
To learn how the tensile load is distributed among the wires A special moving frame of reference, similar to the strand
in a rope and to calculate wire stresses, several geometric proper- coordinate system adapted in the mathematical modeling, has been
ties of each wire must be evaluated before and after the application used in the generation of the basic equations for evaluation of the
of load. These properties are the path length, curvature, and curvature and torsion of a curve in three-dimensional space
torsion. [Sokolnikoff and Redheffer 1958; Leithold 1986]. This frame is
formed by a three-dimensional, right-handed set of orthogonal unit
Path Length Per Lay of Strand vectors, as shown in figure 14. The origin of the frame is located
at the head of any position vector that may be Ror Pof the models
just developed. The three unit vectors t, n, and b are called the
The equations for evaluation of the path length of single and
unit tangent, the unit principal normal, and the unit binormal
double helical wires in each lay of the strand can be derived from
vectors, respectively. The frame is sometimes referred to as the
equations 2, 3, and 4 and are shown in equations 27 and 28.
"moving trihedral" associated with the curve.
The curvature at a certain point of a curve is a measure of how
Path length of single helical wires in each lay of strand: quickly the curve changes direction at that point. It is the
reciprocal of the radius of the curve at that point and expressed in
Ss ' 2Brs (27) the unit of 1/mm in this report. In a wire, a change of the
cos("s)
curvature is produced by bending moments that act on the wire
Path length of double helical wires in each lay of strand: cross section. Curvature not only is related to the shearing stress,
but also affects the distribution of the tensile stress on the cross
Sw ' 2Brs section. Therefore, the deformation of the rope structure in terms
(28)
cos("s) sin("w) of the curvature change needs to be specified to determine its
effect on shearing and normal stresses.
Table 3 shows the path lengths per lay of strand for a 6×19
Seale rope as calculated by equations 27 and 28. The table also
shows the wire-to-rope length ratios by comparing the wire paths
to the strand lay lengths.
Path length
Lay length Lay length Wire-to-rope
per lay
Wire of strand of strand Ls, length
of strand,
referred to mm ratio
mm
Straight:
W10 . . . . . . NAp NAp NAp 1.000
Single helical:
W11 . . . . . . L11 33.02 34.40 1.042
W20 . . . . . . L20 77.48 82.03 1.059
W30 . . . . . . L30 199.61 212.10 1.063
Double helical:
W21 . . . . . . L20 77.48 83.04 1.072
W31 . . . . . . L30 199.61 217.06 1.087
W32 . . . . . . L30 199.61 227.50 1.140
NAp Not applicable.
The curvature vector is defined to be the first derivative of t Expanded curvature equation for single helical wires:
in the moving trihedral, as shown in figure 14, with respect to arc
length of a curve. It can be expressed as 6n, where 6 is a scalar
(ys!zs"& zs!ys")2 % (zs!xs"& xs!zs")2 % (xs!ys"& ys!xs")2
multiplier. The curvature vector is in the same direction of the 6s ' (29a)
3
principal normal vector. The magnitude of this vector is called the (xs!)2 % (ys!)2 % (zs!)2
curvature of the curve and is simply equal to 6 because the
magnitude of n is unity. The curvature of a straight line is always After substituting the functions into equation 29a, it can be reduced
zero because the tangent vector is constant. The curvature of the to its simplest form, as shown in equation 29b. This expression
centroidal axis of either a single or a double helical wire, therefore, indicates that the curvature of a single helical wire is independent
may be specifically defined to be the magnitude of the rate of of the angle of strand rotation and is constant for a given helix
change of the unit tangent vector with respect to arc length of angle.
the wire.
Basic formulas derived for evaluation of curvature are cos2("s)
expressed in terms of the position vector with arc length as the 6s ' (29b)
rs
parameter, because arc length arises naturally from the shape of
the curve [Sokolnikoff and Redheffer 1958]. To directly apply the Expanded curvature equation for double helical wires:
model developed in this report, it is more convenient to use
equations 29 and 30 for computation of the curvature [Stewart
(yw! zw"& zw!yw")2 % (zw!xw"& xw!zw")2 % (xw!yw"& yw!xw")2
1991]. The vectors R and P denoted with single and double 6w ' (30a)
3
primes in the equations represent the first and second derivatives, (xw!)2 % (yw!)2 % (zw!)2
respectively, with regard to 2s or 2w, just as for real-valued func-
tions. Similarly, the vectors denoted with triple primes, to be used
later in this report, represent the third derivatives with respect to 2s The curvatures were computed for both single and double
or 2w. The symbol "| |", by which the vector is bounded, helical wires in a 6×19 Seale wire rope. The results for single
represents the magnitude of the vector, which is generally used in helical wires are shown in table 4. The results for double helical
vector analysis. R was given by equation 6, and its component wires are shown in table 5, with the absolute value of 2wincreasing
functions were given in equations 7, 8, and 9. P was given by from 0° to 360° at increments of 15°.
equation 14, and its component functions were given in The curvatures of the IWRC and S3 helical wires were plotted
equations 24, 25, and 26. against the absolute value of the angle of strand or wire rotation.
Their relationships are shown in figure 15 for two periods. They
indicate that (1) the curvature of single helical wires is independent
Curvature of single helical wires: of the angle of strand rotation, as expressed by equation 29b,
(2) the curvature of double helical wires is a periodical function of
*R! × R"* the angle of wire rotation with a period of 360°, and (3) the
6s ' (29)
*R!*3 curvature of double helical wires is at maximum when the wires
are farthest from the rope center and at minimum when the wires
are nearest to the rope center because the angle of wire rotation is
Curvature of double helical wires: measured from the positive U-axis, which points away from the
rope center, as shown in figure 5.
*P! × P"*
6w ' (30) CCurvature and torsion
Table 4.C
*P!*3
of single helical wires
Substituting the first and second derivatives of each vector Curvature, Torsion,
into equations 29 and 30 and performing the cross and dot products Wire
1/mm 1/mm
and other operations, the expanded forms of these equations W11 . . . . . . 0.0513 0.1753
expressed in terms of the component functions are shown below. W20 . . . . . . 0.0252 0.0724
W30 . . . . . . 0.0100 0.0179
16
Torsion of double helical wires: The torsions of the IWRC and S3 helical wires were
plottedagainst the absolute value of the angle of strand or wire
rotation. Their relationships are shown in figure 16 for two
P! × P" @ P“ periods. They indicate that (1) the torsion of single helical
Jw ' (32)
*P! × P"*2 wires is independent of the angle of strand rotation, as
expressedby equation 31b, (2) the torsion of double helical
wiresis a periodical function of the angle of wire rotation with
a period of 360°, and (3) the torsion of double helical wires is
Substitutingthe derivatives of each vector into the at minimumwhen the wires are farthest from the rope center
equationsand performing the cross and dot products and other andat maximum when the wires are nearest to the rope center.
operations,the expanded forms of these equations expressed in It is also noted that the minimum torsion occurs at the
terms of the component functions are shown below. locations where the curvature is at maximum, and the
maximum torsion occurs at the locations where the curvature
is at minimum.
Expanded torsion equation for single helical wires:
ANALYSIS OF DEFORMATIONS
xs“(ys! zs"& zs!ys") % ys“(zs!xs"& xs!zs") % zs“(xs!ys"& ys!xs") When a tensile load is applied to a wire rope, each
Js ' (31a)
(ys!zs"& zs!ys") % (zs!xs"& xs!zs") % (xs!ys"& ys!xs")
2 2 2 individual wire will deform. Because of the differences in the
wire lengths and the helix angles of single and double helical
wires, the load will not be distributed among the wires simply
based on the cross-sectional areas. The effect of these wire
After substituting the functions into equation 31a, it can
be reduced to its simplest form, as shown in equation 31b. It
indicatesthat the torsion of a single helical wire is independent
of the angle of strand rotation and is constant for a given helix
angle.
sin("s) cos("s)
Js ' (31b)
rs
deformationson the geometry of the rope structure needs to be which are the same as those shownin figure 3 for the
determined. The major change is axial elongation along the undeformed rope,will be used. The only differenceis to
centroidalaxis of a wire. Accompanying the axial elongation replace theoriginal structuralparameterswith the
is a lateral contraction of the cross section. In addition, deformedones, i.e., S r
with Srd, Ss with Ssd, rs with rsd, "s
bendingand twisting moments are generated in the wire that with "sd, Sw with Swd, rw with rwd, and "w with "wd. When2s
causechanges in the curvature and torsion of the wire. The ' 2B, Srd becomesthe deformedlay length of strand,
combination of all of these individual wire deformations which may be expressed as sL (1 % ,r). On the basis of a
results in the deformation of the rope structure. single lay of a strand, equations 33 and 34 are obtained for
There will be a resultant twisting moment, which will single and double helical wires, respectively. In each lay of
cause the rope to rotate if the ends are not restrained. the strand,a double helical wire has an angle of wire
Therefore,deformation of the rope structure will depend on rotation of 2Bn, although the strand only has an angle of
whetherthe rope is allowed to rotate or not. In mine hoisting, strand rotation of B2.
the cage or skip and rope are prevented from rotating by the
shaftguides. Some rope manufacturers also produce rotation- Path length of the deformed single helical wire in each lay
resistantrope [Wire Rope Technical Board 1993], which is of strand:
made with layers of strands laid in opposite directions to
producecounteracting torques. In the use of rope with both
ends restrained, the total number of strand lays and the total (33)
Ssd ' [Ls(1 % ,r )]2 % (2Br
numberof wire lays in a rope are kept constant. Thus, the
relative rotation, n, included in the
models for double helical
wires,remains constant as the rope structure deforms under Path length of the deformed double helical wire in each lay
load. Because of the objective of evaluating the retirement of strand:
criteria formine hoists, only the restrained-rotation case will
be considered in this report. [Ls(1 % ,r)]2 % (2Brsd )2 % (2 (34)
Reduced radius of single helical wires: Radiusof the deformed strand helix for wire W30 or strand S3:
Rsd ' Rs(1 & F,s) (37) r30d ' R10d % 2R11d % 4R21d % 2R20d % R32d % r32d
(41)
Reduced radius of double helical wires:
The radius of the deformed wire helix for double helical
Rwd ' Rw(1 & F,w) (38) wiresalso is a function of the various reduced wire radii. For
example,the radii of the deformed wire helix for wires W21
A Poisson's ratio of 0.303 for steel [Avallone and Baumeister and W31, according to figuresand 8 9, are simply the sum of
1986] may be used for determining the reduced wire radius at the various reduced wire radii, as shown below.
different wire strains.
Radius of the deformed wire helix for wire W21:
Radius of Deformed Helix
r21d ' R20d % R21d (42)
The radius of the deformed helix for single helical wires
is a function of thevarious reduced wire radii. For example, Radius of the deformed wire helix for wire W31:
the radii of the deformed helices for wires W11 and W20,
according to figures 6 through 8, are simply the sum of the r31d ' R30d % R31d (43)
various reduced wire radii, as shown below.
Theradius r32dwill be dependent on the location of the contact
Radius of the deformed strand helix for wire W11: point, as shown in figure 9, of the adjacent elliptical cross
sectionsof wires W31 and W32 in the deformed rope structure.
r11d ' R10d % R11d (39) Assumingthat the contact point between the wire W32 at 2w '
&3B/2 rad and the wire W31 at 2w ' &(3B/2 % B/9) rad is at
Radiusof the deformed strand helix for wire W20 or strand S2: (uc,vc) on the U-V plane, which is perpendicular to the
centroidalaxis of the deformed strand S3, equations 44 and 45
r20d ' R10d % 2R11d % 2R21d % R20d (40) can be derived. Equation 44 is obtained from the equations of
the two ellipses by letting31vof the upper quadrants be equal
Theradius of the deformed strand helix for wire W30 or strand to v32 of the lower quadrants at u ' u c. Equation 45 is obtained
S3 cannot be simply expressed as in equations 39 and 40 for by letting theirrespective derivatives be equal, i.e., dv31/du '
wires W11 and W20. It will depend on the radius of the dv32/du at u ' uc. The equations represent two conditions that
deformedwire helix for wire W32, r32d, which is not merely r32d must satisfy.
the sum of the various reduced wire radii. However, both can
be Radiusof the deformed wire helix for wire W32 subject to two
related by the following equation. conditions:
2
&(c2 uc % c5) % (c2 uc % c5)2 & 4c3 (c1 uc % c4 uc % c6)
'
2c3
(44)
21
(45)
The coefficients c1 through c6 in these equations are described Angle of Deformed Helix
by the following expressions, where N ' B/9. The common
term in all of the coefficients is7, cas defined in equation 52. When the rope elongates under tensile load and is re-
strainedfrom rotating, the angles of the strand and wire helices
c1 ' cos2(N) % sin (N) will also change because of the axial elongation and lateral
2
(46)
c7 contractionof the wire. Using figure 3, the relationship be-
tweenthe angle of the deformed strand or wire helix and the
rope strain,,r, is given in the following equations.
2 sin(N) cos(N) % 2 sin(N) (47)
c7 Angle of the deformed strand helix:
Bending and Twisting represent the torsions of the deformed single and double
helical wires, respectively, then twisting may be expressed as
To determine the bending and twisting of the wires, the (Jsd & Js) or (Jwd& Jw). As indicated by equations 29b and 31b,
curvatureand torsion of the deformed wires must be evaluated. both the curvature and torsion of the deformed single helical
The equations required for evaluation are the same as those wires also will be independent of the angle of strand rotation.
derivedearlier, except that the structural parameters of the de- Therefore,both the bending and twisting of single helical wires
formed rope or the component functions of the deformed would be uniform along their entire paths when a load is
modelmust now be used in equations 29b and 31b for single applied. Both the curvature and torsion of the deformed
helical wires and equations 30a and 32a for double helical doublehelical wires are periodical functions of the angle of
wires. wire rotation. The period is 2B, just as shown in figures 15
If 6sd and 6 wd represent the curvatures of the deformed and 16 for the undeformed double helical wires.
single and double helical wires, respectively, then bending
may be expressed as (6sd & 6s) or (6wd & 6w). Similarly, if Jsd
and Jwd
CONCLUSIONS
The model developed in this report fully describes the ge- A system of equations was also established for
ometry of the structure of wire ropes of any round-strand determiningthe structural parameters of the deformed rope at
construction. It is expressed by vector equations in a three- a given rope strain, with restrained ends, thus obtaining the
dimensional,right-handed, rectangular Cartesian coordinate model for the deformed rope. The geometric properties of
systemand is general enough that any combination of wire and each deformed wire can be evaluated the same way as shown
strandlay directions can be handled if the stated sign conven- in this report for the undeformed rope.
tionsfor the angles of strand and wire rotation and the relative It is recommended for future work that stress analysis be
rotation are followed in the component functions. conductedbased on the changes of these geometric properties
The wire paths are defined for the first time by using a of the deformed wires to determine how the load is distributed
developedmodel, which not only reveal the shapes of the among these wires. Furthermore, the model could be used to
various wires, but also are useful for predicting damage studythe effect of wear and breaking of wires on strength loss
patternsthrough external and internal wear. The geometric for the various round-strand wire ropes used in mine hoisting
properties of each wire can be easily evaluated by using this so that more scientifically based retirement criteria can be
model. A 33-mm 6×19 Seale, IWRC, right regular lay wire established.
rope was analyzed to illustrate the model's usefulness.
REFERENCES
Avallone EA, Baumeister T III, eds. [1986]. Marks' standard handbook Leithold L [1986]. The calculus with analytic geometry. 5th ed. New
formechanical engineers. 9th ed. New York, NY: McGraw-Hill Book Co., York, NY: Harper & Row, Publishers, Inc., pp. 1072-1077.
p. 5-16. Sokolnikoff IS, Redheffer RM[1958]. Mathematics of physics and modern
CFR.Code of Federal regulations. Washington, DC:Government
U.S. engineering. New York, NY: McGraw-Hill Book Co., Inc., pp. 311-315.
Printing Office, Office of the Federal Register. Stewart J [1991]. Calculus. 2nd ed. Pacific Grove, CA: Brooks/Cole
Costello
GA [1990]. Theory of wire rope. New York, NY: Springer- Publishing Co., pp. 688-691.
Verlag, pp. 53-54. WireRope Technical Board [1993]. Wire rope users manual. 3rd ed.
LeeWK [1991]. An insight into wire rope geometry. Int J Solids Woodstock, MD: Wire Rope Technical Board.
Structures
28(4):471-490.
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September 1998