Parallel orienting mechanisms have usually higher potential benefits with respect to serial devices but their actual performances can be strongly limited by the characteristic anisotropy of their workspace: for this reason, model-based control schemes should be better developed, aiming at improving the closed-loop dynamic manipulability of the whole mechatronic system. The paper presents the inverse dynamics model of a spherical wrist in-parallel actuated by 3 linear motors: open loop dynamics is studied by means of computer simulations and some hints are worked out in view of the on-going realization of a prototype device.
Inverse Dynamics Model of a Parallel Orienting Device / Callegari, Massimo; Marzetti, P.. - ELETTRONICO. - 8:(2006), pp. 292-297. (Intervento presentato al convegno 8th International IFAC Symposium on Robot Control: SYROCO 2006 tenutosi a Bologna (I) nel 6-8 September, 2006) [10.3182/20060906-3-IT-2910.00050].
Inverse Dynamics Model of a Parallel Orienting Device
CALLEGARI, Massimo;
2006-01-01
Abstract
Parallel orienting mechanisms have usually higher potential benefits with respect to serial devices but their actual performances can be strongly limited by the characteristic anisotropy of their workspace: for this reason, model-based control schemes should be better developed, aiming at improving the closed-loop dynamic manipulability of the whole mechatronic system. The paper presents the inverse dynamics model of a spherical wrist in-parallel actuated by 3 linear motors: open loop dynamics is studied by means of computer simulations and some hints are worked out in view of the on-going realization of a prototype device.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
