ANALISA KINEMATIKA DAN DEKOMPOSISI SISTEM GAYA PADA CDDR

Abstract

This article presents an elementary description about the characteristics of cable-direct-drive
robot, in particular about the kinematic constraints and kinetics redundancy in cable driving system. The
robot that is observed in this article is one with three-cable driver; as a consequence, this robot will have
one redundancy. Robot’s motion lies on a plane, that is the planar curvilinear motion. Robot’s motion is
assumed to be purely translational, and no rotation occurs. The redundancy is represented by a linear
combination of the range space and the multiple of null space of the coefficient matrix of the force system
at the end-effector. An example for a given position and a planar two-dimensional force system is
presented. The results indicate that the use of range space and null space together will produce statble
and consisten results