Journal cover Journal topic
Mechanical Sciences An open-access journal for theoretical and applied mechanics
Journal topic

Journal metrics

Journal metrics

  • IF value: 1.052 IF 1.052
  • IF 5-year value: 1.567 IF 5-year
    1.567
  • CiteScore value: 1.92 CiteScore
    1.92
  • SNIP value: 1.214 SNIP 1.214
  • IPP value: 1.47 IPP 1.47
  • SJR value: 0.367 SJR 0.367
  • Scimago H <br class='hide-on-tablet hide-on-mobile'>index value: 18 Scimago H
    index 18
  • h5-index value: 16 h5-index 16
Supported by
Logo Library of Delft University of Technology Logo NWO
Affiliated to
Logo iftomm
Volume 6, issue 1
Mech. Sci., 6, 1–8, 2015
https://doi.org/10.5194/ms-6-1-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.
Mech. Sci., 6, 1–8, 2015
https://doi.org/10.5194/ms-6-1-2015
© Author(s) 2015. This work is distributed under
the Creative Commons Attribution 3.0 License.

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 M. F. Wang et al.
  • LARM: Laboratory of Robotics and Mechatronics, DICeM-University of Cassino and South Latium, Cassino (Fr), Italy

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.

Publications Copernicus
Download
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.
In this paper, 1) We design and built a prototype of a LARM tripod leg mechanism with low-cost...
Citation