Inverse Dynamics Model of a Parallel Orienting Device

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.