A comparison of simulations and experimental tests on operation performance of CaPaMan2 bis

In this paper, operation performance of CaPaMan2 bis (Cassino Parallel Manipulator2 bis) has been investigated through numerical simulations and lab experimental tests. A 3D (three dimension) virtual model has been built in MSC.ADAMS environment to simulate the operation behaviour for different prescribed motions. Milli-CaTraSys (Milli-Cassino Tracking System) has been implemented to measure position and orientation of the platform of the prototype CaPaMan2 bis during experimental tests. Several prescribed motions have been simulated and tested under different conditions in order to characterize the system behaviour. Finally, experiment results and simulation computations have been compared for the purpose of performance evaluation and design characterization of the manipulator structure and its prototype.