Experimental characterization of a binary actuated parallel manipulator

Carbone, Giuseppe

doi:10.3901/cjme.2016.0323.036

Cited by 4 publications

(3 citation statements)

References 20 publications

(20 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, since the binary behavior, the feasible configurations of binary mechanisms would decrease. To remedy this limitation, it is preferred to assemble several modules in the architecture to realize a quasi-continuous mobility [26].…”

Section: Binary Control and System Implementationmentioning

confidence: 99%

Locomotion Optimization and Manipulation Planning of a Tetrahedron-Based Mobile Mechanism with Binary Control

Liu

Yao

Ding

et al. 2018

Chin. J. Mech. Eng.

View full text Add to dashboard Cite

Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degree of freedom (DOF), which is infeasible to the optimization of binary control multi-DOF system. A novel optimization method using for the locomotion and manipulation of an 18 DOFs tetrahedron-based mechanism called 5-TET is proposed. The optimization objective is to realize the required locomotion by executing the least number of struts. Binary control strategy is adopted, and forward kinematic and tipping dynamic analyses are performed, respectively. Based on a developed genetic algorithm (GA), the optimal number of alternative struts between two adjacent steps is obtained as 5. Finally, a potential manipulation function is proposed, and the energy consumption comparison between optimal 5-TET and the traditional wheeled robot is carried out. The presented locomotion optimization and manipulation planning enrich the research of tetrahedron-based mechanisms and provide the instruction to the successive locomotion and operation planning of multi-DOF mechanisms. Keywords

show abstract

Section: Binary Control and System Implementationmentioning

confidence: 99%

Locomotion Optimization and Manipulation Planning of a Tetrahedron-Based Mobile Mechanism with Binary Control

Liu

Yao

Ding

et al. 2018

Chin. J. Mech. Eng.

View full text Add to dashboard Cite

show abstract

“…The device is contained in a cylinder with a diameter of 230 mm and a height greater than 220 mm. In [37], the device BAPAMAN is presented. It is a module comprising a base and a platform connected by three legs arranged at 120°.…”

Section: Introductionmentioning

confidence: 99%

Three DoF Cable Driven Parallel Manipulator with Self Sensing Nitinol Actuators

Durante,

Raparelli,

Beomonte Zobel

2024

Preprint

View full text Add to dashboard Cite

This paper presents the design and analysis of a novel 3-degree-of-freedom (3-DOF) parallel ma-nipulator equipped with self-sensing Ni-Ti (Nitinol) actuators. The manipulator's architecture and mechanical design are elucidated, emphasizing the integration of Nitinol actuators. The self-sensing technique implemented in a previous work was extended to a 20 mm actuator length, and the actuator was used to design the 3 DOF manipulator. Kinematic analyses were conducted to eval-uate the manipulator's performance under various operating conditions. A dynamic model was implemented for the dynamic dimensioning of the actuators, which work synergistically with a bias spring. The manipulator was realized, and a control strategy was implemented. Experimental tests, although documenting some positioning accuracy issues, show the efficacy and potential applica-tions of the proposed manipulator in robotics and automation systems, highlighting the advantages of self-sensing Nitinol actuators in small parallel manipulator designs.

show abstract

“…The device is contained in a cylinder with a diameter of 230 mm and a height greater than 220 mm. In [35], the device BAPAMAN is presented. It is a module comprising a base and a platform connected by three legs arranged at 120 • .…”

Section: Introductionmentioning

confidence: 99%

Three-Degree-of-Freedom Cable-Driven Parallel Manipulator with Self-Sensing Nitinol Actuators

Durante,

Raparelli,

Beomonte Zobel

2024

Robotics

View full text Add to dashboard Cite

This paper presents the design and analysis of a novel 3-degree-of-freedom (3-DOF) parallel manipulator equipped with self-sensing Ni-Ti (Nitinol) actuators. The manipulator’s architecture and mechanical design are elucidated, emphasizing the integration of Nitinol actuators. The self-sensing technique implemented in a previous work was extended to a 20 mm actuator length, and the actuator was used to design the 3-DOF manipulator. Kinematic analyses were conducted to evaluate the manipulator’s performance under various operating conditions. A dynamic model was implemented for the dynamic dimensioning of the actuators, which work synergistically with a bias spring. The manipulator was realized, and a control strategy was implemented. Experimental tests, although documenting some positioning accuracy issues, show the efficacy and potential applications of the proposed manipulator in robotics and automation systems, highlighting the advantages of self-sensing Nitinol actuators in small parallel manipulator designs.

show abstract

Experimental characterization of a binary actuated parallel manipulator

Cited by 4 publications

References 20 publications

Locomotion Optimization and Manipulation Planning of a Tetrahedron-Based Mobile Mechanism with Binary Control

Locomotion Optimization and Manipulation Planning of a Tetrahedron-Based Mobile Mechanism with Binary Control

Three DoF Cable Driven Parallel Manipulator with Self Sensing Nitinol Actuators

Three-Degree-of-Freedom Cable-Driven Parallel Manipulator with Self-Sensing Nitinol Actuators

Contact Info

Product

Resources

About