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

被引：51

作者：

Ottaviano, E ^{[1
]}

Ceccarelli, M ^{[1
]}

机构：

[1] Univ Cassino, DiMSAT, Lab Robot & Mechatron, I-03043 Cassino, Fr, Italy

来源：

ROBOTICA | 2002年 / 20卷

关键词：

robotics design; parallel manipulators; workspace;

D O I：

10.1017/S026357470100385X

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：159 / 166

页数：8