Romansy 14 pp 331-338 | Cite as

Experimental Validation and Tests of Operation Characteristics of a Parallel-Serial Manipulator

  • Giuseppe Carbone
  • Giancarlo Marini
  • Marco Ceccarelli
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


In this paper we have reported the experimental activity on a parallel-serial manipulator named as CaHyMan (Cassino Hybrid Manipulator), whose a prototype has been designed and built at the Laboratory of Robotics and Mechatronics in Cassino. We have presented a suitable measuring system, which can be used to carry out experimental validations of CaHyMan characteristics. This paper describes an experimental system, which makes use of a six axes force/torque sensor, a LVDT sensor, a load cell, a torsionmeter and nine accelerometers to measure CaHyMan characteristics and validate CaHyMan’s operation.


Step Motor Mobile Platform Hybrid Manipulator Operation Characteristic Input Shaft 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. Carbone G., Ceccarelli M., Teolis M. (2001). A Numerical Evaluation of the Stiffness of CaHyMan (Cassino Hybrid Manipulator). In 2nd Workshop on Computational Kinematics CK2001. Seoul. 145–154.Google Scholar
  2. Ceccarelli M. (1997). A New 3 dof Spatial Parallel Mechanism. Mechanism and Machine Theory. Vol. 32, 895–902.CrossRefGoogle Scholar
  3. Ceccarelli M., Figliolini G. (1997). Mechanical Characteristics of CaPaMan (Cassino Parallel Manipulator). In Proceedings of 3rd Asian Conference on Robotics and its Application, Tokyo. 301–308.Google Scholar
  4. Cheng H. H. (1994). Real-Time Manipulation of a Hybrid Serial-and-Parallel-Driven Redundant Industrial Manipulator. ASME Journal of Dynamic Systems, Measurement, and Control. 116: 687–701.Google Scholar
  5. Choi B. O., Lee M. K., Park K. W. (1999). Kinematic and Dynamic Models of Hybrid Robot Manipulator for Propeller Grinding. Journal of Robotic Systems, Vol. 16, No. 3. 137–150.CrossRefMATHGoogle Scholar
  6. DS-Europe (1995a). Load cell mod.BC 302. User’s Manual.Google Scholar
  7. DS-Europe (1995b). Position Transducer LVDT mod.SP 100. User’s Manual.Google Scholar
  8. FGP Instr. (1995). Dynamic Torsionmeter mod. CD 1050. User’s Manual.Google Scholar
  9. Khatib O., Roth B., Waldron K.J. (1991). The Design of a High-Performance Force-Controlled Manipulator. 8th World Congress on the Theory of Machines and Mechanisms. Prague. 2: 475–478.Google Scholar
  10. Kistler (1997). Accelerometer mod.8303A.Google Scholar
  11. JR3 Inc. (1994). DSP-Based Force Sensor Receivers Software and Installation Manual.Google Scholar
  12. Marini G. (2001). Experimental Validation of a Hybrid Manipulator.. Master Thesis, Univ. of Cassino, Cassino. (in Italian) National Instruments (1994). Labview 4. 0.Google Scholar
  13. National Instruments (1995). AT-MIO-16F5 Acquisition Card. N.I. Catalog.Google Scholar
  14. Tonchoff H. K., Gunther G., Grendel H. (1998). Vergleichende Betrachtung paralleler und hybrider Strukturen. In Proceedings of Coiference on New Machine Concepts for Handling and Manufacturing Devices on the Basis of Parallel Structures, VDI N. 1427. Braunschweig. 249–270.Google Scholar
  15. Waldron K. J., Raghavan M., Roth B. (1989). Kinematics of a Hybrid Series-Parallel Manipulation System. ASME Journal of Dynamic Systems, Measurement, and Control. 111: 211–221.Google Scholar

Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Giuseppe Carbone
    • 1
  • Giancarlo Marini
    • 1
  • Marco Ceccarelli
    • 1
  1. 1.Laboratory of Robotics and Mechatronics, DiMSATUniversity of CassinoItaly

Personalised recommendations