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

  • Erika Ottaviano (a1) and Marco Ceccarelli (a2)
  • DOI: http://dx.doi.org/10.1017/S026357470100385X
  • Published online: 01 April 2002
Abstract

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.

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Robotica
  • ISSN: 0263-5747
  • EISSN: 1469-8668
  • URL: /core/journals/robotica
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