Experimental testing of BaPaMAN 1 with a high speed motion analysis system

Author

Carbone, Giuseppe ; Copilusi, Cristian

Author_Institution

LARM- Lab. of Robot. & Mechatron., Univ. of Cassino & South Latium, Cassino, Italy

fYear

2014

fDate

22-24 May 2014

Firstpage

1

Lastpage

6

Abstract

BaPaMAN 1 (Binary Actuated Parallel MANipulator version 1) is a 3 degrees of freedom spatial parallel manipulator that has been designed and built within a collaboration between LARM Laboratory in Italy and IWF, Technical University of Braunschweig in Germany. This is a low-cost and easy-operation manipulator, whose functionality is based on stiffness of flexural joints and use of shape memory alloy actuators. Experimental tests have been carried out by using a high speed motion analysis equipment for workspace determination as based on image capture and position analysis.

Keywords

couplings; elasticity; intelligent actuators; manipulator dynamics; motion control; position control; shape memory effects; BaPaMAN 1; Germany; IWF; Italy; LARM Laboratory; Technical University of Braunschweig; binary actuated parallel manipulator version 1; easy-operation manipulator; experimental testing; flexural joints stiffness; high speed motion analysis system; image capture; position analysis; shape memory alloy actuators; workspace determination; Actuators; Displacement measurement; Joints; Kinematics; Legged locomotion; Manipulators; Trajectory; SMA actuators; flexure hinges; kinematics; motion analysis; parallel manipulator;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation, Quality and Testing, Robotics, 2014 IEEE International Conference on

Conference_Location

Cluj-Napoca

Print_ISBN

978-1-4799-3731-8

Type

conf

DOI

10.1109/AQTR.2014.6857839

Filename

6857839