Test results with a binary actuated parallel manipulator

Tao Li; Hao Gu; Conghui Liang; Giuseppe Carbone; Marco Ceccarelli; Christian Löchte; Annika Raatz

Test results with a binary actuated parallel manipulator

Tao Li^*
, Hao Gu
, Conghui Liang
, Giuseppe Carbone
, Marco Ceccarelli
, Christian Löchte
, Annika Raatz

^*Corresponding author for this work

Research output: Contribution to conference › Paper › Research › peer review

Abstract

This paper reports experimental results of a newly built BAPAMAN1 (Binary Actuated PArallel MANipulator). This is a 3-DOF (Degree Of Freedom) modular spatial parallel manipulator with low-cost and easy-operation design features. BAPAMAN1 is driven by SMA (Shape Memory Alloy) at its flexure joints. Several experimental tests have been carried out with the aims to validate the proposed mechanical design and to evaluate the practical operation performances and characteristics of the built prototype. Experimental results show that the tested prototype can perform eight binary configurations and it has a suitable reachable workspace for the prescribed applications.

Original language	English
Publication status	Published - 2011
Externally published	Yes
Event	15th National Conference on Machines and Mechanisms, NaCoMM 2011 - Chennai, India Duration: 30 Nov 2011 → 2 Dec 2011

Conference

Conference	15th National Conference on Machines and Mechanisms, NaCoMM 2011
Country/Territory	India
City	Chennai
Period	30 Nov 2011 → 2 Dec 2011

Keywords

Binary actuators
Flexure joints
Parallel manipulators

ASJC Scopus subject areas

Mechanical Engineering

Cite this

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title = "Test results with a binary actuated parallel manipulator",

abstract = "This paper reports experimental results of a newly built BAPAMAN1 (Binary Actuated PArallel MANipulator). This is a 3-DOF (Degree Of Freedom) modular spatial parallel manipulator with low-cost and easy-operation design features. BAPAMAN1 is driven by SMA (Shape Memory Alloy) at its flexure joints. Several experimental tests have been carried out with the aims to validate the proposed mechanical design and to evaluate the practical operation performances and characteristics of the built prototype. Experimental results show that the tested prototype can perform eight binary configurations and it has a suitable reachable workspace for the prescribed applications.",

keywords = "Binary actuators, Flexure joints, Parallel manipulators",

author = "Tao Li and Hao Gu and Conghui Liang and Giuseppe Carbone and Marco Ceccarelli and Christian L{\"o}chte and Annika Raatz",

year = "2011",

language = "English",

note = "15th National Conference on Machines and Mechanisms, NaCoMM 2011 ; Conference date: 30-11-2011 Through 02-12-2011",

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TY - CONF

T1 - Test results with a binary actuated parallel manipulator

AU - Li, Tao

AU - Gu, Hao

AU - Liang, Conghui

AU - Carbone, Giuseppe

AU - Ceccarelli, Marco

AU - Löchte, Christian

AU - Raatz, Annika

PY - 2011

Y1 - 2011

N2 - This paper reports experimental results of a newly built BAPAMAN1 (Binary Actuated PArallel MANipulator). This is a 3-DOF (Degree Of Freedom) modular spatial parallel manipulator with low-cost and easy-operation design features. BAPAMAN1 is driven by SMA (Shape Memory Alloy) at its flexure joints. Several experimental tests have been carried out with the aims to validate the proposed mechanical design and to evaluate the practical operation performances and characteristics of the built prototype. Experimental results show that the tested prototype can perform eight binary configurations and it has a suitable reachable workspace for the prescribed applications.

AB - This paper reports experimental results of a newly built BAPAMAN1 (Binary Actuated PArallel MANipulator). This is a 3-DOF (Degree Of Freedom) modular spatial parallel manipulator with low-cost and easy-operation design features. BAPAMAN1 is driven by SMA (Shape Memory Alloy) at its flexure joints. Several experimental tests have been carried out with the aims to validate the proposed mechanical design and to evaluate the practical operation performances and characteristics of the built prototype. Experimental results show that the tested prototype can perform eight binary configurations and it has a suitable reachable workspace for the prescribed applications.

KW - Binary actuators

KW - Flexure joints

KW - Parallel manipulators

UR - https://www.scopus.com/pages/publications/84998717579

M3 - Paper

T2 - 15th National Conference on Machines and Mechanisms, NaCoMM 2011

Y2 - 30 November 2011 through 2 December 2011

ER -

Test results with a binary actuated parallel manipulator

Abstract

Conference

Keywords

ASJC Scopus subject areas

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Cite this