In this paper, a new discretely actuated spatial parallel manipulator is presented as designed with binary pneumatic actuation. It has been used as a basic module for the construction of a multi-module parallel manipulator. Major benefits of discretely actuated manipulators are high repeatability, relatively low cost, and no need for feedback control. In addition, hyper-redundancy allows executing tasks even when some actuators fail. Binary actuators can have only two stable states denoted by (0) and (1). In this paper, kinematic and static analyses have been reported to obtain design constraints that have been used to build a first prototype. A performance evaluation is carried out and the prototype has been built for experimental tests.
Design and evaluation of a discretely actuated multi-module parallel manipulator
OTTAVIANO, Erika;CECCARELLI, Marco;
2006-01-01
Abstract
In this paper, a new discretely actuated spatial parallel manipulator is presented as designed with binary pneumatic actuation. It has been used as a basic module for the construction of a multi-module parallel manipulator. Major benefits of discretely actuated manipulators are high repeatability, relatively low cost, and no need for feedback control. In addition, hyper-redundancy allows executing tasks even when some actuators fail. Binary actuators can have only two stable states denoted by (0) and (1). In this paper, kinematic and static analyses have been reported to obtain design constraints that have been used to build a first prototype. A performance evaluation is carried out and the prototype has been built for experimental tests.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
