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 
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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

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