Details
| Original language | English |
|---|---|
| Title of host publication | New Trends in Mechanism and Machine Science |
| Subtitle of host publication | Theory and Applications in Engineering |
| Publisher | Kluwer Academic Publishers |
| Pages | 171-179 |
| Number of pages | 9 |
| ISBN (print) | 9789400749016 |
| Publication status | Published - 10 Aug 2012 |
| Externally published | Yes |
| Event | 4th European Conference on Mechanism Science, EUCOMES 2012 - Santander, Spain Duration: 18 Sept 2012 → 22 Sept 2012 |
Publication series
| Name | Mechanisms and Machine Science |
|---|---|
| Volume | 7 |
| ISSN (Print) | 2211-0984 |
| ISSN (electronic) | 2211-0992 |
Abstract
This paper discusses the further development of a binary parallel manipulator named BaPaMan1 (Binary Actuated PArallel MANipulator), which is aimed at the improvement of the structural stiffness and allows task-adaptation. BaPaMan1 is a three DOF spatial parallel robot which comprises flexure hinges and Shape Memory Alloy (SMA) actuators to achieve a low-cost design, well suited for easy operation applications. Measurements have shown that this comes at the cost of poor structural stiffness and end effector accuracy. To counter these issues BaPaMan2 and BaPaMan3 have been developed and are elaborated within this work. During the design phase, an empirical FEA was used to improve the flexure hinge performance, in which relations between several design parameters and the stiffness of the entire system were analyzed. Finally, task-adaptation was achieved using a developed design methodology and parametric CAD model for BaPaMan3, which take advantage of deduced stiffness influencing equations.
Keywords
- Binary actuation, Flexure hinges, Low-cost, Micro-manipulators, SMA actuators
ASJC Scopus subject areas
- Engineering(all)
- Mechanics of Materials
- Engineering(all)
- Mechanical Engineering
Cite this
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New Trends in Mechanism and Machine Science: Theory and Applications in Engineering. Kluwer Academic Publishers, 2012. p. 171-179 (Mechanisms and Machine Science; Vol. 7).
Research output: Chapter in book/report/conference proceeding › Conference contribution › Research › peer review
}
TY - GEN
T1 - Design methodology for a compliant binary actuated parallel mechanism with flexure hinges
AU - Borchert, Gunnar
AU - Löchte, Christian
AU - Brumme, Stefanie
AU - Carbone, Giuseppe
AU - Ceccarelli, M.
AU - Raatz, Annika
N1 - Funding information: This work was partially supported within the DAADCRUI German-Italian bilateral program Vigoni, which is gratefully acknowledged.
PY - 2012/8/10
Y1 - 2012/8/10
N2 - This paper discusses the further development of a binary parallel manipulator named BaPaMan1 (Binary Actuated PArallel MANipulator), which is aimed at the improvement of the structural stiffness and allows task-adaptation. BaPaMan1 is a three DOF spatial parallel robot which comprises flexure hinges and Shape Memory Alloy (SMA) actuators to achieve a low-cost design, well suited for easy operation applications. Measurements have shown that this comes at the cost of poor structural stiffness and end effector accuracy. To counter these issues BaPaMan2 and BaPaMan3 have been developed and are elaborated within this work. During the design phase, an empirical FEA was used to improve the flexure hinge performance, in which relations between several design parameters and the stiffness of the entire system were analyzed. Finally, task-adaptation was achieved using a developed design methodology and parametric CAD model for BaPaMan3, which take advantage of deduced stiffness influencing equations.
AB - This paper discusses the further development of a binary parallel manipulator named BaPaMan1 (Binary Actuated PArallel MANipulator), which is aimed at the improvement of the structural stiffness and allows task-adaptation. BaPaMan1 is a three DOF spatial parallel robot which comprises flexure hinges and Shape Memory Alloy (SMA) actuators to achieve a low-cost design, well suited for easy operation applications. Measurements have shown that this comes at the cost of poor structural stiffness and end effector accuracy. To counter these issues BaPaMan2 and BaPaMan3 have been developed and are elaborated within this work. During the design phase, an empirical FEA was used to improve the flexure hinge performance, in which relations between several design parameters and the stiffness of the entire system were analyzed. Finally, task-adaptation was achieved using a developed design methodology and parametric CAD model for BaPaMan3, which take advantage of deduced stiffness influencing equations.
KW - Binary actuation
KW - Flexure hinges
KW - Low-cost
KW - Micro-manipulators
KW - SMA actuators
UR - http://www.scopus.com/inward/record.url?scp=84896609706&partnerID=8YFLogxK
U2 - 10.1007/978-94-007-4902-3_18
DO - 10.1007/978-94-007-4902-3_18
M3 - Conference contribution
AN - SCOPUS:84896609706
SN - 9789400749016
T3 - Mechanisms and Machine Science
SP - 171
EP - 179
BT - New Trends in Mechanism and Machine Science
PB - Kluwer Academic Publishers
T2 - 4th European Conference on Mechanism Science, EUCOMES 2012
Y2 - 18 September 2012 through 22 September 2012
ER -