Abstract
In this paper, we introduce a new method and new motion variables to study kinematics and dynamics of a 6 d.o.f cable-driven robot. Using these new variables and Lagrange equations, we achieve new equations of motion which are different in appearance and several aspects from conventional equations usually used to study 6 d.o.f cable robots. Then, we introduce a new Jacobian matrix which expresses kinematical relations of the robot via a new approach and is basically different from the conventional Jacobian matrix. One of the important characteristics of the new method is computational efficiency in comparison with the conventional method. It is demonstrated that using the new method instead of the conventional one, significantly reduces the computation time required to determine workspace of the robot as well as the time required to solve the equations of motion.
Highlights
Cable‐driven robots or cable robots are a special form of parallel robots in which the rigid links are replaced by cables
Barrette and Gosselin analytically determined the dynamic workspace of a planar cable robot (Barrette, G. & Gosselin, C., 2005)
The concept used to define the new Jacobian matrix distinguishes it from the conventional Jacobian matrix usually used to study 6 d.o.f cable robots
Summary
Cable‐driven robots or cable robots are a special form of parallel robots in which the rigid links are replaced by cables. Barrette and Gosselin analytically determined the dynamic workspace of a planar cable robot Alp and Agrawal determined the statically reachable workspace for a 6 d.o.f spatial cable robot which has been built and tested in University of Delaware One of the important characteristics of this method is computational efficiency in workspace determination. Because of straightforwardness of equations of motion in cable robots, few researches have been carried out on this subject It is important for purposes such as real‐ time control of cable robots (Bostelman, R. et al, 1996) to achieve equations which are as simple as possible.
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