Title :
A comparison of simulations and experimental tests on operation performance of CaPaMan2 bis
Author :
Liang, Conghui ; Carbone, Giuseppe ; Ceccarelli, Marco ; Hernandez, Eusebio
Author_Institution :
LARM: Lab. of Robot. & Mechatron., Univ. of Cassino, Cassino, Italy
Abstract :
In this paper, operation performance of CaPaMan2 bis (Cassino Parallel Manipulator bis) has been investigated through numerical simulations and lab experimental tests. A 3D (three dimension) virtual model has been built in MSC.ADAMS environment to simulate the operation behaviour for different prescribed motions. Milli-CaTraSys (Milli-Cassino Tracking System) has been implemented to measure position and orientation of the platform of the prototype CaPaMan2 bis during experimental tests. Several prescribed motions have been simulated and tested under different conditions in order to characterize the system behaviour. Finally, experiment results and simulation computations have been compared for the purpose of performance evaluation and design characterization of the manipulator structure and its prototype.
Keywords :
manipulators; CaPaMan2 bis; MSC.ADAMS; Milli-CaTraSys; cassino parallel manipulator bis; manipulator structure; milli-cassino tracking system; Automatic testing; Computational modeling; Humanoid robots; Manipulator dynamics; Mechatronics; Parallel robots; Position measurement; Prototypes; System testing; Virtual prototyping; CaPaMan2 bis; Experimental mechanics; Milli-CaTraSys; Parallel Manipulators; Robotics; Simulation;
Conference_Titel :
Mechatronics and Automation, 2009. ICMA 2009. International Conference on
Conference_Location :
Changchun
Print_ISBN :
978-1-4244-2692-8
Electronic_ISBN :
978-1-4244-2693-5
DOI :
10.1109/ICMA.2009.5246207
