Seismic motion simulation based on Cassino Parallel Manipulator

Abstract

In this paper we present a study of feasibility by using Cassino Parallel Manipulator (CaPaMan) as an earthquake simulator. We propose a suitable formulation to simulate the frequency, amplitude and acceleration magnitude of seismic motion by means of the movable platform motion by giving a suitable input motion. In this paper we have reported numerical simulations that simulate the three principal earthquake types for a seismic motion: one at the epicenter (having a vertical motion), another far from the epicenter (with the motion on a horizontal plane), and a combined general motion (with a vertical and horizontal motion)

An Experimental Validation of Collision-Free Trajectories for Parallel Manipulators

“…1 and 2 to CaPaMan parallel manipulator. The CaPaMan prototype has been already successfully tested for several applications, including the experimental evaluation of earthquake effects by means of a set of 9-12 accelerometers data, as reported in Carvalho et al (1999); Selvi and Ceccarelli (2010). The proposed task, defining a sequence of T.C.s is shown in Fig.…”

Parallel manipulator architectures from CAPAMAN design

“…Then a third version as CaPaMan 3 was investigated in 2003 and a prototype was built in 2004 as reported in [6]. Beside in main publications as [7][8][9][10][11][12][13][14][15][16][17][18][19][20][21], most of the work for design, simulation, and experimental validation on each structure and prototype has been reported in papers and conference presentations as wells as in student theses, that can be found in the publication list in the LARM webpage http://webuser.unicas.it/weblarm/larmindex.htm In the last decade, research activity on CaPaMan design has been focused not only on its specific characteristics but even in outlining general views and new applications for parallel manipulators with 3 d.o.f.s. In particular, CaPaMan has been successfully experienced as earthquake simulator, [8,[13][14][15]; CaPaMan 2 has been designed for surgery applications with a prescribed very limited workspace, [18]; and CaPaMan 3 has been developed to test feasibility of multi-module arm design with parallel manipulators that are actuated low-cost by pneumatic source, [21].…”

An experimental characterization of earthquake effects on mechanism operation

“…In this paper the 3-D motion capability of CaPaMan parallel architecture has been used to simulate 3-D earthquake motion. In comparison with other common earthquake simulators, which only combine translational movements along vertical and horizontal directions, CaPaMan has the capability of simulating 3-D real seismic events, [2][3][4][5]. During simulation tests with CaPaMan, besides the translational movements along vertical and horizontal directions, will appear a rotational movement of the mobile platform which is important as regarding the simulation of a real seismic event.…”

“…In this paper a 3 DOF parallel manipulator is presented with experimental results regarding with earthquake motion, as an extension of previous work on this subject [2][3][4][5].…”

“…CaPaMan has been designed and built at the Laboratory of Robotics and Mechatronics (LARM), Cassino University, [2][3][4][5]10]. The laboratory test bed prototype consists of a parallel manipulator, an acquisition board connected to a computer and a controller.…”