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Frontiers of Mechanical Engineering

Front Mech Eng    2013, Vol. 8 Issue (1) : 33-41
A modular design kit for task-adaptable low-cost robots based on BaPaMan design
G. BORCHERT1(email.png), C. L?CHTE1, G. CARBONE2, A. RAATZ1
1. 1. TU Braunschweig-IWF, Braunschweig 38106, Germany; 2. 2. Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, Cassino 03043, Italy
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This paper discusses the redesign of a binary parallel manipulator named BaPaMan (Binary Actuated Parallel Manipulator). The aim of this work is the improvement of the structures stiffness of BaPaMan. Additionally this paper shows the implementation of a construction kit which allows task-adaptation of low-cost robots based on the BaPaMan structure. BaPaMan is a three degree of freedom (DOF) spatial parallel robot which comprises flexure hinges and Shape Memory Alloy (SMA) actuators to achieve a low-cost design, well suited for easy operation applications. Measurements have shown that this comes at the cost of poor structural stiffness and end effector accuracy. To counter these issues BaPaMan2 and BaPaMan3 have been developed and are elaborated within this work. During the design phase, an empirical FEA is used to improve the flexure hinge performance, which analyses relations between several design parameters and the stiffness of the entire system. Finally, task-adaptation is achieved by using a design methodology and a parametric CAD model for BaPaMan. Besides the paper introduces first applications of the BaPaMan structure and shows future work.

Keywords binary actuation      flexure hinges      SMA actuators      low-cost      design kit      task-adaptation     
Corresponding Author(s): BORCHERT G.,   
Issue Date: 05 March 2013
 Cite this article:   
A. RAATZ,G. BORCHERT,C. L?CHTE, et al. A modular design kit for task-adaptable low-cost robots based on BaPaMan design[J]. Front Mech Eng, 2013, 8(1): 33-41.
Fig.1  Object of research: First prototype BaPaMan (left), flexure hinges with SMA actuators (middle), BaPaMan1 in the laboratory of LARM (right)
Fig.2  Dependencies of design parameters of the BaPaMan-structure, see Fig. 5
Fig.3  Structure of BaPaMan2 (left), design of the legs (right) with end stops
Fig.4  BaPaMan1 (left) compared to the redesigned BaPaMan2 (right)
Fig.5  Split lateral joint of BaPaMan3 (right) and joint parameters (left)
Fig.6  Determined 2D-model (right) abstracted from BaPaMan3 (left)
Fig.7  Design guideline to develop a task adapted BaPaMan3 structure
Fig.8  BaPaMan2 as moving device to adjust solar panels in an optimal angle to the sun.In the laboratory of IWF (left), working principle (right)
Fig.9  Combination of several BaPaMan modules
Fig.10  Using several BaPaMan modules as complex actuators
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