Description
Binary actuators have two stable positions which are defined by mechanical end positions. These actuators can be used within parallel structures, to create binary robots. These robots feature high repeatability in their discrete configurations. The discrete nature of these actuators simplify the robots as they no longer need complex feedback controllers. The result is simple cost effective robots that are suitable for positioning tasks which require only a few destination points. A drawback of these discrete robots is that the conditions of a specific task must be fulfilled by the geometric parameters of the binary robot”™s kinematic structure. This contribution focuses on the realization of a type synthesis method based on the combination of simple binary robot structures. The presented method allows a suitable parallel structure whose end effector is able to reach the given number of positions of the defined task to be synthesized.
