Optimal Design of CAPAMAN (Cassino Parallel Manipulator) with Prescribed Workspace

CaPaMan (Cassino Parallel Manipulator) is a 3-Degree Of Freedom spatial parallel manipulator that has been designed at the Laboratory of Robotics and Mechatronics, in Cassino. In this paper we present a formulation for an optimum design for CaPaMan architecture when the workspace is suitably prescribed.

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