Open document
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General information |
| Author |
Ceccarelli, Marco |
| Published |
Braunschweig, 2002
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| Edition |
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| Extend |
15 pages
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| ISBN |
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| Abstract |
In this paper an overview of the basic characteristics of parallel manipulators is presented through formulation for their numerical evaluation and experimental determination with the aim to define design and test procedures.
In this paper an overview of the basic characteristics of parallel manipulators is presented through formulation for their numerical evaluation and experimental determination with the aim to define design and test procedures.
Workspace, stiffness, and singularity condition are considered as characteristic
performances for a formulation of optimum design of parallel manipulators. The
proposed concepts and formulation are presented as applied to CaPaMan (Cassino
parallel manipulator) architecture whose a prototype is available at LARM in
Cassino, in order to show a practical example of the presented approach for
optimum design of parallel manipulators.
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