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In this paper, a prototype of a LARM leg mechanism is proposed by using a tripod manipulator. An experimental layout is presented for investigating operational performances through lab experimental test. A prescribed motion with an isosceles trapezium trajectory is used for characterizing the system behavior. Experiment results are analyzed for the purpose of operation performance evaluation and architecture...
In this paper, operation performance of CaPaMan2 bis (Cassino Parallel Manipulator bis) has been investigated through numerical simulations and lab experimental tests. A 3D (three dimension) virtual model has been built in MSC.ADAMS environment to simulate the operation behaviour for different prescribed motions. Milli-CaTraSys (Milli-Cassino Tracking System) has been implemented to measure position...
In this paper the 3 d.o.f. parallel manipulator, named as CaPaMan (Cassino Parallel Manipulator), is analysed in terms of stiffness characteristics. A formulation is presented to deduce the stiffness matrix as a function of the most important stiffness parameters of the CaPaMan architecture. The specific design of CaPaMan, which has been designed and built at the Laboratory of Robotics and Mechatronics...
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