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003 RRR GEDAAAM Tor 3006 & Procoalings of the [Th riermalonal DAAAM Syappstny ISSN 17269079 ISBN 3901509-57-7, Editor B. Kata ‘Published by DAAAM Internatio, Vienna, Ausra 2006 150k Birtaay of Nikola Testa (1856-1943) nverorof Mote Rober Teleopertion NEW FORM OF JACOBIAN MATRIX AND EQUATIONS OF MOTION FOR A 6 D.O.F CABLE-DRIVEN PARALLEL ROBOT USING CONSTRAINED VARIABLES AFSHARI, A. & MEGHDARI, A. Absract: Cabledriven robots are a special type of parallel ‘oho which rigid links are replaced by cable In this study, ‘we imroduce new motion variables to study Kinematics and namics ofa § dof cable-driven parallel robot and then, we sbiain equations of motion by Lagrange method, Because of ting Lagrange uliplirs, we encounter addtional degrees of Jpeedom and anew form of Jacobian mart. We will show that the new method i» computationally mare efficient than the comenional method in workspace detemnination and solving ‘qutions of motion, Key works cable supended robot, workspace, equations of seth 1.INTRODUCTION Cable-drven robots are a new type of robots which have recently atructed researchers. Cabledriven robots or cable robots ao a special form of paraliel robots in which rig links tne replaced by cables. Several cable robots have been studied in the past. An early robot is the Robocrane developed by NIST (Albus et al, 1993). Another cable robot is Charlotte, ‘eveoped by MeDoael-Douglas (Campbell etal, 1995). The her eable robots, which have been built and tested, ae: the Teas (Lindemann & Tesar, 1989), and the FALCON (Kawamura et al, 1995), Workspace is as un important issue in ‘able robots and has been studied by many researchers. Fattah find Agrawal (2005) a8 well as Barrette and Gosselin (2008) deemmined the workspace of planar cable robots. Alp and ‘Agrawal (2002) determined the statically reachable workspace fo 1 6 do. spatial cable robot. Pusey ct al. (2004) studied the ‘esi and workspace ofa 6-6 cable robot. ln this paper, using the concept of Kinematic constraints in Lagaege method, anew Jacobian mairix and equations of ‘motor for a 6 dof cable robot are introduced and some of taracterstice ofthis method are explained 2. KINEMATIC AND DYNAMIC ANALYSES In this study, the well-known NIST Robocrane as a 6 dof ‘able robot was considered. ls movable platform and fixed ‘support are two equilateral triangles often referred to as "lower ‘wangle" and “upper uiangle", respectively. Two fiames are ‘wed for kinematic and dynamic analysis: The reference frame (G17), and te body frame (xyz) as shown in Fig 1. Inthe section, kinematical and dynamical relations ofthe robot ‘az studied by use of two different sets of motion variables; the fist sot of variables which has bees frequently used by other researchers and we call it the “conventional set", and the ‘cond set which can be called the "new set” 21 Analysis by the Conventional Set Shee the robot tus six degrees of freedom, at least six Independent motion variables are nesded to study its Nice dum Ham, wo be ys Xo wih eeeerens an tan ster (tdele ys a B of” o Wher, sya ae he Carin sori of coo tne oo org puter el 8 ety Be xp Now sung Soviet er eu wn Meie Weal laa pL aya, Here, (Mud is the modified inertia matrix, [,) is the modified tft aut] wie comventnal sha ar (eho sro acy erm) be neo ch torques, (G) is the gravity vector, (Z) is the external load vector and 7» is radius ofthe winch drums Fig. 1. Graphical representation of the Robocrane and the olnt masses sed inthis study 2.2 Analysis bythe New Set ere, wo iniedce (ya follows; {%}=[¥o % Zo Xe Ye ZX % Zl 8) [As its observed, the elements of (4) ate the Cartesian coordinates of vertices of the moving platform writen inthe reference fame. Since the robot has sx degrees of freedom, thre constraint equations ae als need. in crder to express kinetic energy of the robot in tems of these mocion variables, it is convenient to use pont masses instead of disrbuted mass, otherwise we encounter complicated terms inthe rational pat of kinetic energy. Asi Je thown in Fig. |, four point masses are positioned in the ‘moving patform; three identical masses (m,) athe vertices and se point mass (rm) at the center of mass of the lower ge. Now, we can determine mand m; 80 tha the masses sd mas omens of inertia of thee systen are idsatical, = 91m => Mac pte “ Now, kinetic and potential energies of the system are easly expressed interns of the generalized coordinates. The, using Lagrange equations the equation of motion canbe derived: LO iar lo lat {4},