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

  • Erika Ottaviano (a1) and Marco Ceccarelli (a2)
  • DOI:
  • Published online: 01 April 2002

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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  • ISSN: 0263-5747
  • EISSN: 1469-8668
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