Robotica

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Optimal design of CaPaMan (Cassino Parallel Manipulator) with a specified orientation workspace


Erika  Ottaviano a1 and Marco  Ceccarelli a2
a1 Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr), (Italy) ottaviano/ceccarelli@ing.unicas.it
a2 Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43, 03043 Cassino (Fr), (Italy)

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.

(Received October 18 2001)


Key Words: Robotics design; Parallel manipulators; Workspace.