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Design and validation of the binary actuated parallel manipulator BAPAMAN2

This paper describes a procedure for designing a novel mini-scaled parallel manipulator having three binary-actuated degrees of freedom, whose name is BAPAMAN2 (Binary Actuated PArallel MANipulator version 2). This is a low-cost, easy-operation manipulator that has been designed as an evolution of previous designs in the BAPAMAN series (BAPAMAN and BAPAMAN1). Main novel desired design features have been a smaller size and higher stiffness and repeatability performances. For this purpose, proper models have been developed and main design characteristics have been validated by means of numerical simulations. Experimental tests have been also carried out for validating the operation performances of a built prototype also in terms of stiffness and repeatability features.