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

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Cited articles

Bhutani, G. and Dwarakanath, T. A.: Practical Feasibility of A High Precision 3-UPU Parallel Mechanism, Robotica, 32, 341–353, 2014.
Carbone, G. and Ceccarelli, M.: Legged Robotic Systems, Cutting Edge Robotics, ARS Scientific Book, Vienna, 553–576, 2005.
Ceccarelli, M.: Fundamentals of Mechanics of Robotic Manipulation, Kluwer Academic Publishers, Dordrecht, 2004.
Ceccarelli, M.: An Illustrated History of LARM in Cassino, in: Proc. of Int. Workshop on Robotics in Alpe-Adria-Danube Region (RAAD), Naples, Edizioni Scientifiche e Artistiche, 85–92, 2012.
Ceccarelli, M. and Carbone, G.: A New Leg Design with Parallel Mechanism Architecture, in: Proc. of Int. Conf. on Advanced Intelligent Mechatronics (AIM), Singapore, 1447–1452, 2009.
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.