This paper discusses the redesign of a binaryparallel manipulator named BaPaMan (Binary ActuatedParallel Manipulator). The aim of this work is theimprovement of the structures stiffness of BaPaMan.Additionally this paper shows the implementation of aconstruction kit which allows task-adaptation of low-costrobots based on the BaPaMan structure. BaPaMan is athree degree of freedom (DOF) spatial parallel robot whichcomprises flexure hinges and Shape Memory Alloy (SMA)actuators to achieve a low-cost design, well suited for easyoperation applications. Measurements have shown that thiscomes at the cost of poor structural stiffness and endeffector accuracy. To counter these issues BaPaMan2 andBaPaMan3 have been developed and are elaborated withinthis work. During the design phase, an empirical FEA isused to improve the flexure hinge performance, whichanalyses relations between several design parameters andthe stiffness of the entire system. Finally, task-adaptation isachieved by using a design methodology and a parametricCAD model for BaPaMan. Besides the paper introducesfirst applications of the BaPaMan structure and showsfuture work.
A modular design kit for task-adaptable low-cost robots based on BaPaMan design
CARBONE, Giuseppe;
2013
Abstract
This paper discusses the redesign of a binaryparallel manipulator named BaPaMan (Binary ActuatedParallel Manipulator). The aim of this work is theimprovement of the structures stiffness of BaPaMan.Additionally this paper shows the implementation of aconstruction kit which allows task-adaptation of low-costrobots based on the BaPaMan structure. BaPaMan is athree degree of freedom (DOF) spatial parallel robot whichcomprises flexure hinges and Shape Memory Alloy (SMA)actuators to achieve a low-cost design, well suited for easyoperation applications. Measurements have shown that thiscomes at the cost of poor structural stiffness and endeffector accuracy. To counter these issues BaPaMan2 andBaPaMan3 have been developed and are elaborated withinthis work. During the design phase, an empirical FEA isused to improve the flexure hinge performance, whichanalyses relations between several design parameters andthe stiffness of the entire system. Finally, task-adaptation isachieved by using a design methodology and a parametricCAD model for BaPaMan. Besides the paper introducesfirst applications of the BaPaMan structure and showsfuture work.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
