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

Published online by Cambridge University Press:  09 April 2002

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

Robotics designParallel manipulatorsWorkspace
Type
Research Article
Information
Robotica , Volume 20 , Issue 2 , March 2002 , pp. 159 - 166
Copyright
© 2002 Cambridge University Press

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