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EnglishParallel 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.
| Titolo: | Inverse Dynamics Model of a Parallel Orienting Device |
| Autori: | |
| Data di pubblicazione: | 2006 |
| 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. |
| Handle: | http://hdl.handle.net/11566/45740 |
| ISBN: | 978-390266116-6 |
| Appare nelle tipologie: | 4.1 Contributo in Atti di convegno |
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