This paper discusses an inverse dynamics problem for a parallel wire mechanism with multi-degrees of freedom. Firstly, a crane-type parallel wires mechanism which has three trolleys and three wires is proposed for handling heavy objects. This handling mechanism enables not only three dimensional positioning but also orientating of objects, unlike typical crane mechanism. A dynamical model using wire force vector is derived. Based on the dynamical model with wire force vector, inverse dynamics problem is analytically solved by a linear equation in terms of the wire force vector. The trajectory of end-effector of the crane-type manipulator can be transformed into the trajectory of wire length and trolley position by the calculation method. Using the trajectory of wire length and trolley position, the end-effector of the crane-type manipulator is controlled. Two dimensional experimental crane-type manipulator is also developed to verify an effectiveness of the inverse dynamics calculation and the trajectory control method.
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