CaPaMan (Cassino Parallel Manipulator) as sensored earthquake simulator

A new family of spatial 3-DoF fully-parallel manipulators with high rotational capability

“…The parallelogram was first applied to the design of Star-Like robot in 1992 by Hervé [17], which also has three translational DoFs, used later in the design of another parallel manipulator with three translational DoFs by Tsai in 1996 [25], which is the first design to resolve the problem of a UU (U-universal joint) chain as well. From then on, the concept of parallelogram attracted many researchersÕ attention, e.g., TURIN [26] with six DoFs and CaPaMan [13] with three DoFs. In 2001, a spatial three-DoF (two translational DoFs and one rotational DoF) parallel manipulator, HALF, was proposed [23,27], in which the third leg consists of a parallelogram that guarantees a rotational DoF output.…”

“…A lot of interesting parallel mechanical systems with specified type and number of DoFs and mechanical design methods have been extensively studied since then. They have been applied to a diversity in the industrial world, e.g., aircraft simulators [2], adjustable articulated trusses [3], wrists [4], high-performance camera-orienting devices [5], industrial robots [6], force/torque sensors [7], micromanipulators [8,9], haptic devices [10], wire robots [11], mining machines [12], earthquake devices [13], and medical devices [14], especially recently developed potential application in machine tool and parallel kinematic machines [15]. Among these, the smart and simple design of Delta [16] has made it a success.…”

Control de Posición Fuzzy para una Mesa Vibratoria de Dos Ejes Basada en un Mecanismo Biela-Manivela

“…On the other hand, due to the fact that earthquakes are stochastic processes, their random features allow the definition the maximum and minimum acceleration limits over a ground surface (Ceccarelli, Pugliese, Lanni, & Mendes Carvalho, 1999). That's the reason the test made over shaking-tables to the structure analysis is based on the reproduction of random earthquakes with known maximum peaks of acceleration (Chen & Zhang, 2008;Murota, Feng, & Liu, 2006).…”

An Application of a 3-DOF Parallel Manipulator for Earthquake Simulations

“…In particular, the 3D motion capability of CaPaMan parallel architecture has been used to simulate 3D earthquake motion through an extension of previous experiences, [12], Erika Ottaviano and Marco Ceccarelli are with LARM: Laboratory of Robotics and Mechatronics at DiMSAT -University of Cassino, 03043 Cassino (Fr), Italy (corresponding author Erika Ottaviano phone: +39-0776-2993665; fax: +39-0776-2993711; e-mail: ottaviano/ceccarelli@unicas.it). [13].…”