TY - JOUR
T1 - Characterization of a cable-based parallel mechanism for measurement purposes#
AU - Hernández-Martínez, Eusebio E.
AU - Ceccarelli, Marco
AU - Carbone, Giuseppe
AU - López-Cajún, Carlos S.
AU - Jáuregui-Correa, Juan C.
PY - 2010/1
Y1 - 2010/1
N2 - This article describes the main characteristics of a cable-based parallel manipulator called Milli-Cassino Tracking System (Milli-CaTraSys), which was developed at LARM in Cassino. Operation models and formulations are proposed both for kinematics and statics. In particular, a procedure is proposed for error estimation to know error effects on the end-effector pose. Numerical simulations have been carried out to characterize both the procedure results and system behavior. Results of experimental tests and simulations are also compared to show the feasibility and practical efficiency of a Milli-CaTraSys prototype.
AB - This article describes the main characteristics of a cable-based parallel manipulator called Milli-Cassino Tracking System (Milli-CaTraSys), which was developed at LARM in Cassino. Operation models and formulations are proposed both for kinematics and statics. In particular, a procedure is proposed for error estimation to know error effects on the end-effector pose. Numerical simulations have been carried out to characterize both the procedure results and system behavior. Results of experimental tests and simulations are also compared to show the feasibility and practical efficiency of a Milli-CaTraSys prototype.
KW - ADAMS simulation
KW - Error modeling
KW - Measuring systems
KW - Parallel architectures
KW - Robotics
UR - http://www.scopus.com/inward/record.url?scp=77951245591&partnerID=8YFLogxK
U2 - 10.1080/15397730903386101
DO - 10.1080/15397730903386101
M3 - Artículo
SN - 1539-7734
VL - 38
SP - 25
EP - 49
JO - Mechanics Based Design of Structures and Machines
JF - Mechanics Based Design of Structures and Machines
IS - 1
ER -