Parallel manipulators are increasingly used in new applications by exploiting their peculiarities. The specific motion simulation capability of CaPaMan (Cassino parallel manipulator) can be used for an earthquake simu...
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Parallel manipulators are increasingly used in new applications by exploiting their peculiarities. The specific motion simulation capability of CaPaMan (Cassino parallel manipulator) can be used for an earthquake simulator. In this paper, a study of feasibility of such novel application of a 3-DOF CaPaMan prototype has been presented by looking experimentally not only at point seismograms but even to 3D earthquake motion. Although 3-DOFs do not permit exact repetition of real 3D earthquake motion, the results have been satisfactory since a design earthquake simulation has been determined and tested with the basic earthquake characteristics.
A second prototype of a biped walking robot, called EP-WAR2 (Electropneumatic WAlking Robot), has been designed and built at LARM (laboratory of robotics and mechatronics) in Cassino. In addition to the performances o...
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ISBN:
(纸本)0780365763
A second prototype of a biped walking robot, called EP-WAR2 (Electropneumatic WAlking Robot), has been designed and built at LARM (laboratory of robotics and mechatronics) in Cassino. In addition to the performances of the previous prototype EP-WAR, EP-WAR2 is able to climb stairs because of a new actuation system. A suitable programming of the programmable logic controller has been based on several subroutines, which run different walking motions and specifically to climb stairs. Experimental tests prove the validity of the proposed low-cost design and programming technique.
In this paper we have reported results of successful experiences using CaPaMan (Cassino Parallel Manipulator) as an earthquake simulator. The paper describes the experimental set up for a sensored mobile plate so that...
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ISBN:
(纸本)0780367367
In this paper we have reported results of successful experiences using CaPaMan (Cassino Parallel Manipulator) as an earthquake simulator. The paper describes the experimental set up for a sensored mobile plate so that we have verified the numerical simulations with practical experiments. Reproducing accelerometer diagrams of really happened earthquakes has proved the practical feasibility. Experimental results have been reported in this paper to show the interest for this application of CaPaMan.
CaPaMan (Cassino parallel manipulator) is a three-degree of freedom parallel mechanism that has been designed and built at the laboratory of robotics and mechatronics in Cassino. In the paper a study of the configurat...
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ISBN:
(纸本)0780365763
CaPaMan (Cassino parallel manipulator) is a three-degree of freedom parallel mechanism that has been designed and built at the laboratory of robotics and mechatronics in Cassino. In the paper a study of the configuration singularities of the CaPaMan manipulator is presented by considering two different methods: an algebraic formulation and a vector analysis. It is shown that a formulation can give singularity related to the failure of the kinematic model at particular configurations of the manipulator. It is also proved that this type of singularity can be avoided by a proper analysis of the problem.
CATRASYS (Cassino Tracking System) is a low-cost, easyily operated system for monitoring large displacements together with rotation angles of a suitable end-effector, which can be easily attached to any mechanical sys...
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A new prototype of biped walking robot, named as EP-WAR2 (Electropneumatic WAlking Robot), has been built at the laboratory of robotics and mechatronics in Cassino. This prototype has been provided for logical sensors...
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A new prototype of biped walking robot, named as EP-WAR2 (Electropneumatic WAlking Robot), has been built at the laboratory of robotics and mechatronics in Cassino. This prototype has been provided for logical sensors in order to avoid different obstacles which have been classified as right and left corners, right and left walls, and entire wall. A walking analysis of EP-WAR2 has been carried out for each type of these obstacles. The control system is given by a PLC (Programmable Logic Controller). Thus, a specific flow-chart for PLC programming has been based on several subroutines in order to foresee in advance and control several situations during the walking motion. External sensor system and PLC programming have been tested on autonomous motion of EP-WAR2 in unknown environments.
In this paper, we present an optimization of the packing station that operates in the Linostar plant in Patrica, Italy. The work has been developed in cooperation with Linostar management in Patrica. In particular, we...
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In this paper, we present an optimization of the packing station that operates in the Linostar plant in Patrica, Italy. The work has been developed in cooperation with Linostar management in Patrica. In particular, we have carried out a specific analysis procedure for the specific packing station called the "RAD-ACE workcell". Results of this in-depth analysis have given us the opportunity to propose some alternative solutions and changes that can enhance the productivity and optimize the current manipulative process.
In this paper we have presented how to increase payload performance of the prototype of biped robot EP-WAR2 (Electro-Pneumatic Walking Robot) that was built in Cassino. We have proposed a mechanical design that copies...
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In this paper we have presented how to increase payload performance of the prototype of biped robot EP-WAR2 (Electro-Pneumatic Walking Robot) that was built in Cassino. We have proposed a mechanical design that copies rickshaw's architecture and operation. A study of feasibility has been carried out and preliminary results are herein presented on mechanical characteristics and operation programming.
CATRASYS (Cassino Tracking System) is a low-cost, easyily operated system for monitoring large displacements together with rotation angles of a suitable end-effector, which can be easily attached to any mechanical sys...
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CATRASYS (Cassino Tracking System) is a low-cost, easyily operated system for monitoring large displacements together with rotation angles of a suitable end-effector, which can be easily attached to any mechanical system. In this paper we present basic performance of CATRASYS by using an analysis for error evaluation and showing experimental tests that have been carried out at the laboratory of robotics and mechatronics in Cassino with available robots.
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