Kinematic analysis of a spatial four-wire driven parallel crane without constraining mechanism

Jean-Pierre Merlet 1 David Daney 1
1 COPRIN - Constraints solving, optimization and robust interval analysis
CRISAM - Inria Sophia Antipolis - Méditerranée , ENPC - École des Ponts ParisTech
Abstract : We are interested in wire-driven parallel robot with four wires and at least two distinct attachment points on the end-effector. Such type of robot is non redundant, it exhibits 4 d.o.f. and can be used as a crane. This paper addresses the inverse and forward kinematics problem, taking into account the mechanical equilibrium equations. We show that surprisingly the forward kinematics can be solved, either for determining all solutions or in a real-time context, but that the inverse kinematics is still an open issue.
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https://hal.inria.fr/hal-00987471
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Submitted on : Tuesday, May 6, 2014 - 11:53:38 AM
Last modification on : Saturday, January 27, 2018 - 1:30:48 AM

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Jean-Pierre Merlet, David Daney. Kinematic analysis of a spatial four-wire driven parallel crane without constraining mechanism. Computational Kinematics, May 2009, Duisburg, Germany. pp.1-8, ⟨10.1007/978-3-642-01947-0_1⟩. ⟨hal-00987471⟩

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