Details
| Original language | English |
|---|---|
| Pages (from-to) | 1033-1043 |
| Number of pages | 11 |
| Journal | Advanced Robotics |
| Volume | 27 |
| Issue number | 13 |
| Publication status | Published - 14 Jun 2013 |
| Externally published | Yes |
Abstract
This paper describes a procedure for designing a novel mini-scaled parallel manipulator having three binary-actuated degrees of freedom, whose name is BAPAMAN2 (Binary Actuated PArallel MANipulator version 2). This is a low-cost, easy-operation manipulator that has been designed as an evolution of previous designs in the BAPAMAN series (BAPAMAN and BAPAMAN1). Main novel desired design features have been a smaller size and higher stiffness and repeatability performances. For this purpose, proper models have been developed and main design characteristics have been validated by means of numerical simulations. Experimental tests have been also carried out for validating the operation performances of a built prototype also in terms of stiffness and repeatability features.
Keywords
- binary actuation, design, flexure hinges, mini-manipulators, SMA actuators
ASJC Scopus subject areas
- Computer Science(all)
- Software
- Engineering(all)
- Control and Systems Engineering
- Computer Science(all)
- Human-Computer Interaction
- Computer Science(all)
- Hardware and Architecture
- Computer Science(all)
- Computer Science Applications
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In: Advanced Robotics, Vol. 27, No. 13, 14.06.2013, p. 1033-1043.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Design and validation of the binary actuated parallel manipulator BAPAMAN2
AU - Carbone, Giuseppe
AU - Daliesio, Ettore
AU - Borchert, Gunnar
AU - Raatz, Annika
PY - 2013/6/14
Y1 - 2013/6/14
N2 - This paper describes a procedure for designing a novel mini-scaled parallel manipulator having three binary-actuated degrees of freedom, whose name is BAPAMAN2 (Binary Actuated PArallel MANipulator version 2). This is a low-cost, easy-operation manipulator that has been designed as an evolution of previous designs in the BAPAMAN series (BAPAMAN and BAPAMAN1). Main novel desired design features have been a smaller size and higher stiffness and repeatability performances. For this purpose, proper models have been developed and main design characteristics have been validated by means of numerical simulations. Experimental tests have been also carried out for validating the operation performances of a built prototype also in terms of stiffness and repeatability features.
AB - This paper describes a procedure for designing a novel mini-scaled parallel manipulator having three binary-actuated degrees of freedom, whose name is BAPAMAN2 (Binary Actuated PArallel MANipulator version 2). This is a low-cost, easy-operation manipulator that has been designed as an evolution of previous designs in the BAPAMAN series (BAPAMAN and BAPAMAN1). Main novel desired design features have been a smaller size and higher stiffness and repeatability performances. For this purpose, proper models have been developed and main design characteristics have been validated by means of numerical simulations. Experimental tests have been also carried out for validating the operation performances of a built prototype also in terms of stiffness and repeatability features.
KW - binary actuation
KW - design
KW - flexure hinges
KW - mini-manipulators
KW - SMA actuators
UR - http://www.scopus.com/inward/record.url?scp=84881310459&partnerID=8YFLogxK
U2 - 10.1080/01691864.2013.804800
DO - 10.1080/01691864.2013.804800
M3 - Article
AN - SCOPUS:84881310459
VL - 27
SP - 1033
EP - 1043
JO - Advanced Robotics
JF - Advanced Robotics
SN - 0169-1864
IS - 13
ER -