Analysis of inverse kinematics and dynamics of a novel 6-degree-of-freedom wire-driven parallel gantry crane robot

Every type of wire-driven parallel robots can be used in cargo handling as a robot crane. Concerning the 6-degree-of-freedom (DOF) wire-driven parallel robot with three wires, its mechanism configuration belongs to URPMs (Under Restrained Positioning Mechanisms), if one translational or rotational DOF rigid mechanism is added to each of its kinematic chains. In this case the mechanism becomes a new type 6-DOF robot. It has been found, in the research survey that the mechanism configuration of such kind of 6-DOF robot CABLEV is not powerful enough because of its limited workspace. A novel 6-DOF parallel crane robot containing three rigid-and-flexible hybrid sub-chains is proposed which can access to a larger workspace. The differential flatness of its inverse kinematics and dynamics is analyzed by a simulation. The results of this simulation will lay a basis for the future trajectory tracking control of the payload.