Abstract In this paper a fairly general algorithm is proposed for the determination and evaluation of workspace both serial parallel manipulators. The procedure based on binary representation presents possibility shape volume robot characteristics. Two examples are presented to show practical feasibility its results.

A parametric nonlinear model of cable-driven parallel manipulators endowed with a three-dimensional end-effector is formulated and discussed in this paper. The proposed considers the distributed stiffness, inertia, damping time-varying length cables allows to study characterize dynamic response equipped generic number n cables. equations motion each are first derived via total lagrangian formulation together compatibility prescribing connectivity between mass, while dynamics described by...

Sit-to-stand can be considered the most common daily-life activity and it defined as a change of posture, in which base support is transferred from seat to feet. It requires both voluntary movement different body segments that contribute equilibrium control during an important displacement Centre Of Gravity body. This crucial importance for elderly people with reduced mobility achieve minimal independence at home. In this study, we present compare three design solutions mechanisms used...

The management and preservation of heritage assets are important issues for their sustainability further maintenance. Classical approaches mainly rely on human activities that time consuming with high costs. In addition, mandatory actions required, often clash the difficulty access to sites, cost, invasiveness investigations. Mechatronic advanced tools can be developed efficiently used as technological solutions address problem. Our project's aim is test low-cost technologies monitor manage...

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 formulation for an optimum design architecture when orientation workspace suitably specified.

This paper deals with the problem of estimating pose a moving rigid body by measuring length six wires attached to it. Since can be seen as extensible legs, this is equivalent that solving forward kinematics six-degree-of-freedom parallel manipulator. Among all possible locations for attachments on object, "3-2-1" configuration shown exhibit large number favorable properties. The performance analysis particular addressed finding analytic expressions estimated covariance matrix and expected...

Serial and parallel manipulators can be used in different manipulative tasks when their peculiarities kinematic dynamic behaviours are properly considered from the design stage. The basic performance workspace, mobility constraints, stiffness makes them alternative solutions not competitive manipulator chains. Thus, it is convenient to deduce a common procedure that considers criteria, but specific numerical evaluations. In this paper, multi-objective optimization problem has been proposed...

SUMMARY In this paper the design and operation for a 2-Degree-of-Freedom, leg–wheel hybrid mobile robot are presented. A prototype of low-cost easy-to-use system, which is capable straight walking steering with two actuators only, has been designed built. Simulation experimental tests have carried out to verify engineering feasibility proposed solution. The can be used applications such as surveillance inspection disaster sites.

In this paper, the design, simulation and experimental tests are presented for THROO: a Tracked Hybrid Rover, which has been developed to Overpass Obstacles. The proposed mobile robot 3-DOFs it is capable of straight motion, turning ability two operations, namely rover-like motion with tracks on flat terrain walking-like track legs overpass obstacles move uneven terrain. leg mechanism composed four-bar linkage, synthesized according desired features. particular, Burmester problem, aims at...

In this paper we present the design and operation of CATRASYS (Cassino Tracking System), a wire tracking system which has been designed built at Laboratory Robotics Mechatronics in Cassino. is capable measuring large displacements orientation variations complex movable multi-body systems. The principle based on trilateration technique, properly formulated for an easy use CATRASYS. basic performance feasibility have checked through error analysis experimental results. particular, suitable...

SUMMARY In this paper, an application is presented of a cable-based parallel manipulator as measuring system for experimental identification human walking characteristics. Experimental results have been obtained by means new version CaTraSys (Cassino Tracking System), which that has designed and built at Laboratory Robotics Mechatronics (LARM) in Cassino, Italy. The the used to determine trajectory limb extremity during operation furthermore able measure forces are exerted limb....