Configuration design and analysis of generalized inverse pose kinematic problem of 6-DOF wire-driven gantry crane robots

摘要

Some configurations of 6-DOF wire-driven parallel crane robots with 3 wires have been designed. For each kind of the design configurations, the generalized inverse pose kinematics problems are analyzed and the general existences of solutions are studied, which will verify the feasibility of the design configurations. It has a certain guiding significance for future researchers to select the configuration of 6-DOF wire-driven parallel crane robots with 3 wires.