Further Analysis of the 2-2 Wire-Driven Parallel Crane

descriptionPublicationkeyboard_double_arrow_right Part of book or chapter of book , Conference object , Other literature type 16 Oct 2013 English Publisher:Springer NetherlandsFunded by:EC | CABLEBOT

Authors: Merlet, Jean-Pierre;

doi: 10.1007/978-94-007-7214-4_2 , 10.5281/zenodo.6755

Further Analysis of the 2-2 Wire-Driven Parallel Crane

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Abstract

The 2-2 wire-driven parallel crane is the most simple planar parallel crane actuated by wires with two wires connected at two different points on the platform. We present original contributions on the kinematics of such robot, namely full inverse kinematics, trajectory, static and singularity analysis in the joint space.

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Keywords

robotics, cable-driven parallel robots, [SPI.AUTO] Engineering Sciences [physics]/Automatic, kinematics, cable robot, [INFO.INFO-IR] Computer Science [cs]/Information Retrieval [cs.IR]

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