Dynamic performance of CaPaMan by numerical simulations

In this paper dynamic performance of Cassino parallel manipulator (CaPaMan) has been investigated through numerical simulations by using COMPAMM software. A suitable model has been developed by describing the multi-body system through natural coordinates of suitable points and vectors. A simulation program has been elaborated and several simulations have been carried out for several different movements and feasible applications of CaPaMan. Moreover, a parametric simulation has been carried out in order to investigate the effects of manufacturing tolerance on CaPaMan dynamic behaviour. In particular, frame reactions and actuating torques have been calculated when geometrical dimensions differ from the design values, due to errors in fabrication and assembly of CaPaMan.