An application of CaTraSys, a cable-based parallel measuring system for an experimental characterization of human walking

Robotica ◽  
2009 ◽  
Vol 28 (1) ◽  
pp. 119-133 ◽  
Author(s):  
Erika Ottaviano ◽  
Marco Ceccarelli ◽  
Francesco Palmucci
Keyword(s):  
Parallel Manipulator ◽  
Tracking System ◽  
Experimental Results ◽  
Measuring System ◽  
Human Walking ◽  
Experimental Characterization ◽  
Experimental Identification ◽  
Human Limb

SUMMARYIn this paper, an application is presented of a cable-based parallel manipulator as measuring system for an experimental identification of human walking characteristics. Experimental results have been obtained by means of a new version of CaTraSys (Cassino Tracking System), which is a measuring system that has been designed and built at Laboratory of Robotics and Mechatronics (LARM) in Cassino, Italy. The new version of the CaTraSys system has been used to determine the trajectory of the human limb extremity during walking operation and furthermore the system is able to measure forces that are exerted by a limb. Experimental determination of articulation mobility is also presented with numerical and experimental results.

Numerical and experimental characterization of singularities of a six-wire parallel architecture

Robotica ◽  
2006 ◽  
Vol 25 (3) ◽  
pp. 315-324 ◽  
Author(s):  
Erika Ottaviano ◽  
Marco Ceccarelli
Keyword(s):  
Numerical Analysis ◽  
Tracking System ◽  
Parallel Architecture ◽  
Operating Conditions ◽  
Experimental Results ◽  
Experimental Characterization ◽  
Singular Configurations ◽  
Experimental Analyses ◽  
The Wire

SUMMARYA characterization of singularities for a six-wire parallel architecture is presented as a result of numerical and experimental analyses. Numerical analysis has been developed through geometrical and analytical considerations. The study is based on a classification that has been derived on the basis of the geometry of tetrahedra, and singular configurations have been classified as a function of the tetrahedron volume. Experimental characterization has been carried out by considering the wire parallel architecture Cassino tracking system (CATRASYS). Experimental results are reported to characterize the performance of the CATRASYS chain in different operating conditions as an illustrative practical example.

Homing Sensor System Design for a 2D Long Range Nanopositioning Moving Platform

2014 ◽  
Vol 615 ◽  
pp. 57-62 ◽  
Author(s):  
Raquel Acero Cacho ◽  
Jose Antonio Albajez ◽  
José Antonio Yagüe-Fabra ◽  
Marta Torralba ◽  
Margarita Valenzuela ◽  
...  
Keyword(s):  
Sensor System ◽  
Measuring System ◽  
Experimental Characterization ◽  
Measuring Systems ◽  
Precision Measuring ◽  
Atomic Force ◽  
Ultra Precision ◽  
Moving Platform ◽  
Sensor System Design

The nanotechnology field has been developing strongly in recent years and ultra-precision measuring systems are nowadays required. A new two-dimensional moving platform with 50x50 mm range of travel, nanometer resolution and sub micrometer accuracy is being designed by the authors in order to be integrated with an Atomic Force Microscope (AFM). In this work the definition, design and experimental characterization of a homing sensor system for this 2D moving platform is presented. The homing sensor system will allow the generation of an absolute 2D reference for the platform (X-Y axis and θz rotation), defining an initial cero for the measuring system, which is based on laser encoders.

Controllable, High Force Amplification Using Elastic Cable Capstans

2012 ◽  
Author(s):  
Gray C. Thomas ◽  
Clayton C. Gimenez ◽  
Erica D. Chin ◽  
Andrew P. Carmedelle ◽  
Aaron M. Hoover
Keyword(s):  
Dynamic Performance ◽  
Experimental Results ◽  
Rotating Drum ◽  
Experimental Characterization ◽  
Experimental Apparatus ◽  
Linear Force ◽  
Low Torque ◽  
Robotic Applications

This paper presents the design and experimental characterization of a continuously variable linear force amplifier based on the theory of capstans. In contrast to traditional capstan amplifiers, the design presented here uses an elastic cable, enabling a control actuator to not only continuously clutch output to a rotating drum but also passively declutch by releasing tension. Our experimental results demonstrate successful declutching at all force amplification ratios up to the limit of our experimental apparatus, 21 — significantly higher than previously published values. A system of distributed capstan amplifiers driven by a central torque source with cable engagement switched by lightweight, low torque actuators has potential to reduce the mass of distal actuators and enable more dynamic performance in robotic applications.

Characterization of Surface Defect Structure by Low Energy Electron Diffraction

1984 ◽  
Vol 41 ◽  
Author(s):  
J. F. Wendelken ◽  
G. -C. Wang ◽  
J. M. Pimbley ◽  
T. -M. Lu
Keyword(s):  
Electron Beam ◽  
Electron Diffraction ◽  
Surface Defect ◽  
Low Energy ◽  
Experimental Results ◽  
Energy Electron ◽  
Low Energy Electron Diffraction ◽  
Low Energy Electron

AbstractLow energy electron diffraction is a surface sensitive tool which is most widely used for the determination of surface symmetries and equilibrium atomic positions. Experimental and theoretical advances made in the past five years make it possible now to use LEED also for the characterization of a wide variety of surface defect structures. In this paper a variety of experimental results involving analysis of diffracted electron beam shapes as a function of primary electron beam energy, adsorbate coverage, crystal tem-perature and ordering time are presented. These experimental results coupled with kinematic theory, allow the determination of step density, size and shape of reconstruction domains and overlayer islands, island size distribution in an overlayer during growth, and the mode of growth.

scholarly journals Experimental and Numerical Characterization of CaPaMan 2bis Operation

2010 ◽  
Vol 8 (01) ◽  
Author(s):  
E E Hernandez Martinez ◽  
L Conghui ◽  
G Carbone ◽  
M Ceccarelli ◽  
C S LopezCajun
Keyword(s):  
Parallel Manipulator ◽  
Tracking System ◽  
Experimental Tests ◽  
Three Dimension ◽  
Virtual Model ◽  
System Behavior ◽  
Operation Performance ◽  
End Effector ◽  
Numerical Characterization

In this paper, the operation performance of CaPaMan 2bis (Cassino Parallel Manipulator 2 bis) was investigated through lab experimental tests and computer simulations. Milli‐CaTraSys (Milli‐Cassino Tracking System) was implemented to determine displacements and orientation variations of CaPaMan 2bis end‐effector during experimental tests. A 3D (three dimension) virtual model was built in ADAMS environment to simulate the operation behavior for different prescribed motions. Several prescribed motions have been simulated and tested under different conditions in order to characterize the system behavior. In particular, the kinematic characteristics were obtained from both, experimental tests and numerical simulations. Finally, experiment results and simulation computations were compared for purpose of performance evaluation and design characterization of the parallel manipulator structure and its prototype.

Studies on the Optical Measuring System for Grape Stem Diameter

2014 ◽  
Vol 568-570 ◽  
pp. 65-70
Author(s):  
Ming Jun Wang ◽  
Jun Zhou
Keyword(s):  
Continuous Measurement ◽  
High Accuracy ◽  
Stem Diameter ◽  
Experimental Results ◽  
Measuring System ◽  
Stem Segment ◽  
Physiological Disorders ◽  
Optical Measuring ◽  
Periodic Data

This study presented a novel non-contact optical measuing method for grape stem diameter in fields. The main algorithm contained 3 steps: saperation of the stem from background, determination of the stem segment, and the computation of stem diameter. The experiments conducted in field not only validated the effectiveness, but also proved the high accuracy of the optical measuring system. And our further experimental results showed that the continuous measurement of grape stem diameter can provide periodic data for the analysis of physiological disorders in grapes.

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