Title :
Experimental experiences with a LARM tripod leg mechanism
Author :
Mingfeng Wang ; Ceccarelli, Marco ; Carbone, Giuseppe
Author_Institution :
LARM: Lab. of Robot. & Mechatron., DiCEM-Univ. of Cassino & South Latium, Cassino, Italy
Abstract :
In this paper, a prototype of a LARM leg mechanism is proposed by using a tripod manipulator. An experimental layout is presented for investigating operational performances through lab experimental test. A prescribed motion with an isosceles trapezium trajectory is used for characterizing the system behavior. Experiment results are analyzed for the purpose of operation performance evaluation and architecture design characterization of the proposed prototype.
Keywords :
legged locomotion; manipulator kinematics; LARM tripod leg mechanism; isosceles trapezium trajectory; motion; tripod manipulators; Acceleration; Actuators; Foot; Legged locomotion; Manipulators; Prototypes; Experimental Robotics; Legged Robots; Parallel Manipulators; Tripod Leg Mechanisams;
Conference_Titel :
Mechatronic and Embedded Systems and Applications (MESA), 2014 IEEE/ASME 10th International Conference on
Conference_Location :
Senigallia
Print_ISBN :
978-1-4799-2772-2
DOI :
10.1109/MESA.2014.6935547
