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Experimental characterization of a binary actuated parallel manipulator

  • Robotics and Control
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Abstract

This paper describes the BAPAMAN (Binary Actuated Parallel MANipulator) series of parallel manipulators that has been conceived at Laboratory of Robotics and Mechatronics (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.

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Authors and Affiliations

  1. Department of Engineering and Mathematics, Sheffield Hallam University, Sheffield, UK

    Carbone Giuseppe

  2. Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Cassino(Fr), Italy

    Carbone Giuseppe

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  1. Carbone Giuseppe
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Correspondence to Carbone Giuseppe.

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CARBONE Giuseppe, born in 1972, received his PhD degree from University of Cassino and South Latium, Italy. He has carried out several periods of research abroad, such as in Germany, Japan, Spain, and China. His research interests include stiffness of multibody robotic systems, robotic hands and grippers, mechatronic designs, design of experimental test-beds. He has published more than 250 peer reviewed papers on the above-mentioned topics.

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Giuseppe, C. Experimental characterization of a binary actuated parallel manipulator. Chin. J. Mech. Eng. 29, 445–453 (2016). https://doi.org/10.3901/CJME.2016.0323.036

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  • DOI: https://doi.org/10.3901/CJME.2016.0323.036

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