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

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.