Characterization of a Cable-Based Parallel Mechanism for Measurement Purposes

This article describes the main characteristics of a cable-based parallel manipulator called Milli-Cassino Tracking System (Milli-CaTraSys), which was developed at LARM in Cassino. Operation models and formulations are proposed both for kinematics and statics. In particular, a procedure is proposed...

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Bibliographic Details
Published inMechanics based design of structures and machines Vol. 38; no. 1; pp. 25 - 49
Main Authors Hernández-Martínez, Eusebio E., Ceccarelli, Marco, Carbone, Giuseppe, López-Cajún, Carlos S., Jáuregui-Correa, Juan C.
Format Journal Article
LanguageEnglish
Published Philadelphia, PA Taylor & Francis Group 29.01.2010
Taylor & Francis
Subjects
ADAMS simulation
Applied sciences
Computer science; control theory; systems
Control theory. Systems
Drives
Error modeling
Exact sciences and technology
Linkage mechanisms, cams
Measuring systems
Mechanical engineering. Machine design
Parallel architectures
Robotics
Cable
End effect
Estimation error
Error estimation
Mesuring systems
Parallel mechanism
Parallel architectures
Modeling
Robotics
Manipulator
Error modeling
Gripper
Kinematics
Linkage mechanism
Wire suspended mechanism
ADAMS simulation
Feasibility
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Summary:This article describes the main characteristics of a cable-based parallel manipulator called Milli-Cassino Tracking System (Milli-CaTraSys), which was developed at LARM in Cassino. Operation models and formulations are proposed both for kinematics and statics. In particular, a procedure is proposed for error estimation to know error effects on the end-effector pose. Numerical simulations have been carried out to characterize both the procedure results and system behavior. Results of experimental tests and simulations are also compared to show the feasibility and practical efficiency of a Milli-CaTraSys prototype.
ISSN:1539-7734
1539-7742
DOI:10.1080/15397730903386101