Resumen de Characterization of a Cable-Based Parallel Mechanism for Measurement Purposes
Eusebio Hernández-Martínez, Marco Ceccarelli, G. Carbone, Carlos López-Cajún, Juan Jáuregui-Correa
This article describes the main characteristics of a cable-based parallel manipulator called Milli-Cassino Tracking System (Milli-CaTraSys), which was developed at LARM in Cassino. Operation models and formulations are proposed both for kinematics and statics. In particular, a procedure is proposed for error estimation to know error effects on the end-effector pose. Numerical simulations have been carried out to characterize both the procedure results and system behavior. Results of experimental tests and simulations are also compared to show the feasibility and practical efficiency of a Milli-CaTraSys prototype.
