Further Analysis of the 2-2 Wire-Driven Parallel Crane
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.
KeywordsCable-driven robots Kinematics
This research has received funding from the European Community’s Seventh Framework Program under grant agreement NMP2-SL-2011-285404 (CABLEBOT).
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