TY - JOUR
T1 - Experimental and numerical characterization of CaPaMan 2bis operation
AU - Hernandez-Martinez, E. E.
AU - Conghui, L.
AU - Carbone, G.
AU - Ceccarelli, M.
AU - Lopez-Cajun, C. S.
PY - 2010/4
Y1 - 2010/4
N2 - In this paper, the operation performance of CaPaMan 2bis (Cassino Parallel Manipulator 2 bis) was investigated through lab experimental tests and computer simulations. Milli-CaTraSys (Milli-Cassino Tracking System) was implemented to determine displacements and orientation variations of CaPaMan 2bis end-effector during experimental tests. A 3D (three dimension) virtual model was built in ADAMS environment to simulate the operation behavior for different prescribed motions. Several prescribed motions have been simulated and tested under different conditions in order to characterize the system behavior. In particular, the kinematic characteristics were obtained from both, experimental tests and numerical simulations. Finally, experiment results and simulation computations were compared for purpose of performance evaluation and design characterization of the parallel manipulator structure and its prototype.
AB - In this paper, the operation performance of CaPaMan 2bis (Cassino Parallel Manipulator 2 bis) was investigated through lab experimental tests and computer simulations. Milli-CaTraSys (Milli-Cassino Tracking System) was implemented to determine displacements and orientation variations of CaPaMan 2bis end-effector during experimental tests. A 3D (three dimension) virtual model was built in ADAMS environment to simulate the operation behavior for different prescribed motions. Several prescribed motions have been simulated and tested under different conditions in order to characterize the system behavior. In particular, the kinematic characteristics were obtained from both, experimental tests and numerical simulations. Finally, experiment results and simulation computations were compared for purpose of performance evaluation and design characterization of the parallel manipulator structure and its prototype.
KW - Experimental mechanics
KW - Kinematics
KW - Parallel manipulators
KW - Simulation
UR - http://www.scopus.com/inward/record.url?scp=80054690917&partnerID=8YFLogxK
U2 - 10.22201/icat.16656423.2010.8.01.480
DO - 10.22201/icat.16656423.2010.8.01.480
M3 - Artículo
SN - 1665-6423
VL - 8
SP - 101
EP - 119
JO - Journal of Applied Research and Technology
JF - Journal of Applied Research and Technology
IS - 1
ER -