Capstan equation including bending rigidity and non-linear frictional behavior

More rigorous analyses have been conducted in improving the classical capstan equation by including both the rod bending rigidity and a power-law friction (in place of the Amonton’s law) into the formula. During the analyses, the power-law exponent was used as the indicator for the non-linear friction behavior, whereas both the capstan radius ratio and the incoming load incline angle were used as the parameters reflecting the bending rigidity. Our analyses indicate complex relationships those parameters have in influencing the tension ratio or tension transmitting efficiency, a thorough parametric study illustrates clearly such interconnections. Since in most cases, the bending rigidity of the tension member is non-negligible and non-linear friction is more common, the new results should be more useful in practical applications.