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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.
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Submitted on : Monday, October 5, 2015 - 5:50:49 PM
Last modification on : Saturday, June 25, 2022 - 11:17:00 PM
Long-term archiving on: : Wednesday, January 6, 2016 - 10:52:08 AM


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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⟩



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