Experimental and Numerical Characterization of CaPaMan 2bis Operation

 

E. E. Hernandez–Martinez^{* 1, 2}, L. Conghui², G. Carbone², M. Ceccarelli² , C. S. Lopez–Cajun

 

¹ Facultad de Ingeniería, Universidad Autónoma de Querétaro, Cerro de las Campanas s/n, 39060 Querétaro, México.

² Laboratory of Robotics and Mechatronics, DiMSAT, University of Cassino, Via G. Di Blasio 43, 03043 Cassino, Italy. *e.hernandez@unicas.it

 

ABSTRACT

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.

 

RESUMEN

En este trabajo se investiga el desempeño de la operación del manipulador paralelo CaPaMan 2bis a través de pruebas experimentales y de simulaciones numéricas. El sistema Milli–CaTraSys se implementó para determinar la variación de los desplazamientos y la orientación del órgano terminal de CaPaMan 2bis durante las pruebas experimentales. Un modelo 3D desarrollado en ADAMS fue utilizado para simular el comportamiento operacional para diferentes movimientos prescritos. Tales movimientos han sido simulados y verificados bajo diferentes condiciones con el fin de caracterizar el comportamiento del sistema. En particular, se obtienen características cinemáticas de las pruebas experimentales y de las simulaciones numéricas. Finalmente, se comparan los resultados experimentales con los cálculos de simulación con el propósito de evaluar el desempeño y la caracterización del diseño del manipulador paralelo y su prototipo.

 

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Acknowledgments

The first author's PhD studies at LARM (2008 and 2009) have been supported by a grant from CONACyT (Mexican Science and Technology Council) and a cooperation program between the University of Cassino, Italy and the Universidad Autónoma de Querétaro, Mexico. He would like to express his gratitude to those institutions.

The second author's PhD studies at LARM (2008–2010) have been supported by a scholarship from the Chinese Scholarship Council (CSC), for which he is thankful. Authors would also like to thank CONACyT for supporting part of this project through grant 51410Y.

 

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