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;
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.File in questo prodotto:
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