| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 712591 | IFAC Proceedings Volumes | 2006 | 6 Pages |
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.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Massimo Callegari, Paolo Marzetti,