Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture

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...

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Main Authors: M. F. Wang, M. Ceccarelli, G. Carbone
Format: Article
Language:English
Published: Copernicus Publications 2015-01-01
Series:Mechanical Sciences
Online Access:http://www.mech-sci.net/6/1/2015/ms-6-1-2015.pdf
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spelling doaj-aa2291281db94155b4e83c862c6dba932020-11-25T00:27:57ZengCopernicus PublicationsMechanical Sciences2191-91512191-916X2015-01-01611810.5194/ms-6-1-2015Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architectureM. F. Wang0M. Ceccarelli1G. Carbone2LARM: Laboratory of Robotics and Mechatronics, DICeM-University of Cassino and South Latium, Cassino (Fr), ItalyLARM: Laboratory of Robotics and Mechatronics, DICeM-University of Cassino and South Latium, Cassino (Fr), ItalyLARM: Laboratory of Robotics and Mechatronics, DICeM-University of Cassino and South Latium, Cassino (Fr), ItalyIn 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.http://www.mech-sci.net/6/1/2015/ms-6-1-2015.pdf
collection DOAJ
language English
format Article
sources DOAJ
author M. F. Wang
M. Ceccarelli
G. Carbone
spellingShingle M. F. Wang
M. Ceccarelli
G. Carbone
Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture
Mechanical Sciences
author_facet M. F. Wang
M. Ceccarelli
G. Carbone
author_sort M. F. Wang
title Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture
title_short Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture
title_full Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture
title_fullStr Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture
title_full_unstemmed Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture
title_sort experimental tests on operation performance of a larm leg mechanism with 3-dof parallel architecture
publisher Copernicus Publications
series Mechanical Sciences
issn 2191-9151
2191-916X
publishDate 2015-01-01
description 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.
url http://www.mech-sci.net/6/1/2015/ms-6-1-2015.pdf
work_keys_str_mv AT mfwang experimentaltestsonoperationperformanceofalarmlegmechanismwith3dofparallelarchitecture
AT mceccarelli experimentaltestsonoperationperformanceofalarmlegmechanismwith3dofparallelarchitecture
AT gcarbone experimentaltestsonoperationperformanceofalarmlegmechanismwith3dofparallelarchitecture
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