Services on Demand
Journal
Article
Indicators
- Cited by SciELO
- Access statistics
Related links
- Similars in SciELO
Share
Journal of applied research and technology
On-line version ISSN 2448-6736Print version ISSN 1665-6423
Abstract
HERNANDEZ-MARTINEZ, E. E. et al. Experimental and Numerical Characterization of CaPaMan 2bis Operation. J. appl. res. technol [online]. 2010, vol.8, n.1, pp.101-117. ISSN 2448-6736.
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.
Keywords : Experimental mechanics; parallel manipulators; simulation; kinematics.