Design and Performance of L-CaPaMan2

Abstract

The improved solution of L-CaPaMan design is elaborated with solutions for low-cost lightweight features. A new prototype is presented as a result of design improvements by using market components and 3D printing manufacturing. The new prototype as L-CaPaMan (Light CaPaMan) is characterised with new components for a new slider solution and light-structure links. The prototype construction is discussed up to a testing layout for design validation and operation characterization. Results of testing are discussed to outline the operation performance of L-CaPaMan by using Arduino controller with basic sensors for motion and action monitoring.

Keywords

• robot design
• robot dynamics
• parallel manipulators
• 3D printing
• CaPaMan
• performance evaluation