Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture
In this paper, a prototype of a LARM leg mechanism is proposed by using a tripod manipulator and its operation performance is investigated through lab experimental tests. In particular, an experimental layout is presented for investigating operational performance. A prescribed motion with an isoscel...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2015-01-01
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| Series: | Mechanical Sciences |
| Online Access: | http://www.mech-sci.net/6/1/2015/ms-6-1-2015.pdf |
| Summary: | In this paper, a prototype of a LARM leg mechanism is proposed by using a
tripod manipulator and its operation performance is investigated through lab
experimental tests. In particular, an experimental layout is presented for
investigating operational performance. A prescribed motion with an isosceles
trapezoid trajectory is used for characterizing the system behavior.
Experiment results are analyzed for the purpose of operation evaluation and
architecture design characterization of the tripod manipulator and its
proposed prototype. |
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| ISSN: | 2191-9151 2191-916X |