Experimental Characterization of a Binary Actuated Parallel Manipulator

CARBONE, Giuseppe (2016). Experimental Characterization of a Binary Actuated Parallel Manipulator. Chinese Journal Of Mechanical Engineering (Cme).

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This paper describes the BAPAMAN (Binary Actuated Parallel MANipulator) series of parallel manipulators that has been conceived at LARM. Basic common characteristics of BAPAMAN series are described. In particular, it is outlined the use of a reduced number of active degrees of freedom, the use of design solutions with flexural joints and Shape Memory Alloy (SMA) actuators for achieving miniaturization, cost reduction and easy operation features. Given the peculiarities of BAPAMAN architecture, specific experimental tests have been proposed and carried out with the aim to validate the proposed design and to evaluate the practical operation performance and the characteristics of a built prototype, in particular, in terms of operation and workspace characteristics.

Item Type: Article
Uncontrolled Keywords: Robotics, Experimental tests
Research Institute, Centre or Group: Materials and Engineering Research Institute > Centre for Automation and Robotics Research > Sheaf Solutions
Identification Number: CJME-D-16-00085-1
Depositing User: Giuseppe Carbone
Date Deposited: 16 Mar 2016 15:25
Last Modified: 16 Nov 2018 13:02
URI: http://shura.shu.ac.uk/id/eprint/11841

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