DocumentCode
133532
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
fYear
2014
fDate
10-12 Sept. 2014
Firstpage
1
Lastpage
6
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/MESA.2014.6935547
Filename
6935547
Link To Document