Three DoF Cable Driven Parallel Manipulator with Self Sensing Nitinol Actuators

Francesco Durante; Terenziano Raparelli; Pierluigi Beomonte Zobel

doi:10.20944/preprints202405.2015.v1

Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Version 1 : Received: 29 May 2024 / Approved: 30 May 2024 / Online: 30 May 2024 (08:26:53 CEST)

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.

Keywords: parallel manipulator; Ni-Ti actuators; kinematic analysis; dynamic analysis; robotics; cable robo

Engineering, Mechanical Engineering

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Three DoF Cable Driven Parallel Manipulator with Self Sensing Nitinol Actuators

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