This paper is focused on the development of an effective hardware and software architecture that is useful to improve the performance of slender parallel manipulators. The latter can perform high acceleration in fast pick and place applications, but their features can be also exploited in more advanced operations, where path following is a central issue. A simple and effective approach to model the elastodynamic behavior of flexible parallel manipulator is proposed, conceived to be fast and easy to implement in model-based control schemes. Moreover, a workbench architecture based on camera acquisitions is essential to calibrate the elastodynamic model and provide all the required information that are needed to improve path following of flexible mechanims.

An effective approach to model parallel robots with flexible links / Stefano, B.; Palpacelli, M.. - ELETTRONICO. - 7:(2021). (Intervento presentato al convegno 17th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications, MESA 2021, Held as Part of the ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2021 tenutosi a Virtual, Online nel 17 August 2021 through 19 August 2021) [10.1115/DETC2021-69983].

An effective approach to model parallel robots with flexible links

Palpacelli M.
Secondo
2021-01-01

Abstract

This paper is focused on the development of an effective hardware and software architecture that is useful to improve the performance of slender parallel manipulators. The latter can perform high acceleration in fast pick and place applications, but their features can be also exploited in more advanced operations, where path following is a central issue. A simple and effective approach to model the elastodynamic behavior of flexible parallel manipulator is proposed, conceived to be fast and easy to implement in model-based control schemes. Moreover, a workbench architecture based on camera acquisitions is essential to calibrate the elastodynamic model and provide all the required information that are needed to improve path following of flexible mechanims.
2021
978-0-7918-8543-7
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11566/297405
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