Institut für Montagetechnik und Industrierobotik Forschung Publikationen
Design and Simulation of the Binary Parallel Manipulator BAPAMAN2

Design and Simulation of the Binary Parallel Manipulator BAPAMAN2

Kategorien Konferenz
Jahr 2012
Autorinnen/Autoren Borchert, G.; Raatz, A.; Carbone, G.; DAliesio, E.
Veröffentlicht in 21th Int. Workshop on Robotics in Alpe-Adria-Danube Region (RAAD), Naples, Italy, 10-13 Sept., 2012, pp. 63-70

This paper describes the design process for a novel mini-scaled parallel manipulator having 3 binary-actuated degrees of freedom which has low-cost easyoperation design features. This manipulator has been named as BAPAMAN2 (Binary Actuated PArallel MANipulator version 2), since its design is an evolution of the previous designs BAPAMAN and BAPAMAN1. Main novel desired design features have been a smaller size and higher stiffness and repeatability features. For this purpose the design characteristics have been validated by means of numerical simulations for workspace analysis and proper design of SMA (Shape Memory Alloy) actuators. Experimental tests have been also carried out for validating the operation performances of the built prototype especially in terms of stiffness and repeatability features.