Skip to Main content Skip to Navigation
Conference papers

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

Jean-Pierre Merlet 1
1 HEPHAISTOS - HExapode, PHysiologie, AssISTance et Objets de Service
CRISAM - Inria Sophia Antipolis - Méditerranée
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.
Complete list of metadata

Cited literature [5 references]  Display  Hide  Download

https://hal.inria.fr/hal-01211797
Contributor : Jean-Pierre Merlet <>
Submitted on : Monday, October 5, 2015 - 5:50:49 PM
Last modification on : Thursday, March 11, 2021 - 10:30:02 AM
Long-term archiving on: : Wednesday, January 6, 2016 - 10:52:08 AM

File

ck2013.pdf
Files produced by the author(s)

Identifiers

Collections

Citation

Jean-Pierre Merlet. Further Analysis of the 2-2 Wire-Driven Parallel Crane. CK2013 - 6th Int. Workshop on Computational Kinematics, May 2013, Barcelone, Spain. ⟨10.1007/978-94-007-7214-4_2⟩. ⟨hal-01211797⟩

Share

Metrics

Record views

349

Files downloads

348