MANIPULATION
Optimal design of CaPaMan (Cassino Parallel Manipulator) with a specified orientation workspace
Erika Ottaviano, Marco Ceccarelli
- Year
- 2002
- Citations
- 65
- Access
- Open access
Abstract
CaPaMan (Cassino Parallel Manipulator) is a 3-Degree Of Freedom spatial parallel manipulator that has been designed at the Laboratory of Robotics and Mechatronics, in Cassino. In this paper we present a formulation for an optimum design for CaPaMan architecture when the orientation workspace is suitably specified.
Keywords
WorkspaceParallel manipulatorMechatronicsRoboticsOrientation (vector space)Computer scienceArtificial intelligenceManipulator (device)Stewart platformControl engineering
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