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Kinetostatic Analysis of a Simple Cable-Driven Parallel Crane

Abstract : This paper introduces the concept of a new planar Cable-Driven Parallel Crane (CDPC) for lifting and carrying payloads with a moving hoist mechanism connected in parallel to the ceiling. In contrast to bridge-crane, CDPC is inexpensive and practicable for diverse tasks with simple assembly setup. The hoist mechanism is an under-constrained moving-platform articulated through a bi-actuated cable circuit, namely, a cable loop. The hoist is connected to a suspended moving-platform with four degrees of freedom. The power is transmitted directly from the motors fixed on frames to the hoist through the cable loop. Therefore , the dynamic performance of the robot is increased due to lower inertia of the moving-platform. However, the moving-platform undergoes some parasitic inclinations because of the cable loop. This paper investigates the parasitic inclination and its effect on the positioning of the payload. The workspace of the CDPC is studied in terms of static equilibrium. Moreover, the geometrico-static and elasto-static models of the CDPC are presented.
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Contributor : Stéphane Caro <>
Submitted on : Wednesday, August 29, 2018 - 3:59:15 AM
Last modification on : Tuesday, January 5, 2021 - 4:26:23 PM
Long-term archiving on: : Friday, November 30, 2018 - 12:22:10 PM


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Saman Lessanibahri, Philippe Cardou, Stéphane Caro. Kinetostatic Analysis of a Simple Cable-Driven Parallel Crane. ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference IDETC/CIE 2018, Aug 2018, Quebec city, Canada. ⟨10.1115/DETC2018-86173⟩. ⟨hal-01863728⟩



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