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

  • J.-P. MerletEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


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.


Cable-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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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.INRIAValbonneFrance

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