Articles | Volume 6, issue 1
Research article
30 Jan 2015
Research article |  | 30 Jan 2015

Experimental tests on operation performance of a LARM leg mechanism with 3-DOF parallel architecture

M. F. Wang, M. Ceccarelli, and G. Carbone

Abstract. In this paper, a prototype of a LARM leg mechanism is proposed by using a tripod manipulator and its operation performance is investigated through lab experimental tests. In particular, an experimental layout is presented for investigating operational performance. A prescribed motion with an isosceles trapezoid trajectory is used for characterizing the system behavior. Experiment results are analyzed for the purpose of operation evaluation and architecture design characterization of the tripod manipulator and its proposed prototype.

Short summary
In this paper, 1) We design and built a prototype of a LARM tripod leg mechanism with low-cost easy-operation features that can be useful in a biped locomotor; 2) We present an experimental layout for investigating operational performance of the built prototype; 3) We characterize and analyze the system behaviour by follow a prescribed step movement of the foot platform under consideration with human walking.