Three DoF Cable Driven Parallel Manipulator with Self Sensing Nitinol Actuators
Francesco Durante,
Terenziano Raparelli,
Pierluigi Beomonte Zobel
Abstract: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… Show more
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