Skip to main content
SpringerLink
Log in
Book cover

Computational Kinematics pp 11–19Cite as

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

  • Conference paper
  • First Online:

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 15))

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.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   169.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Hardcover Book
USD   219.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. Bosscher, P., Ebert-Uphoff, I.: Wrench-based analysis of cable-driven robots. In: IEEE International Conference on Robotics and Automation, pp. 4950–4955. New Orleans, 28–30 April 2004

    Google Scholar 

  2. Carricato, M., Merlet, J.P.: Stability analysis of underconstrained cable-driven parallel robots. IEEE Trans. Robotics 29(1), 288–296 (2013)

    Article  Google Scholar 

  3. Carricato, M., Merlet, J.P.: Geometrico-static analysis of under-constrained cable-driven parallel robot. In: ARK, pp. 309–320. Piran 28 June–1 July 2010

    Google Scholar 

  4. Gosselin, C.: Determination of the workspace of 6-dof parallel manipulators. ASME J. Mechan. Des. 112(3), 331–336 (1990)

    Google Scholar 

  5. Michael, N., Fink, J., Kumar, V.: Cooperative manipulation and transportation with aerial robots. In: Robotics: Science and Systems. Seattle, June 2009

    Google Scholar 

Download references

Acknowledgments

This research has received funding from the European Community’s Seventh Framework Program under grant agreement NMP2-SL-2011-285404 (CABLEBOT).

Author information

Authors and Affiliations

  1. INRIA, Valbonne, France

    J.-P. Merlet

Authors
  1. J.-P. Merlet
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to J.-P. Merlet .

Editor information

Editors and Affiliations

  1. Llorens Artigas, Inst Robótica e Informática Industrial, Barcelona, Spain

    Federico Thomas

  2. Mechanical Engineering, Idaho State University, Pocatello, Idaho, USA

    Alba Perez Gracia

Rights and permissions

Reprints and permissions

Copyright information

© 2014 Springer Science+Business Media Dordrecht

About this paper

Cite this paper

Merlet, JP. (2014). Further Analysis of the 2-2 Wire-Driven Parallel Crane. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_2

Download citation

  • DOI: https://doi.org/10.1007/978-94-007-7214-4_2

  • Published:

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7213-7

  • Online ISBN: 978-94-007-7214-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation