AN EFFECTIVE APPROACH TO MODEL PARALLEL ROBOTS WITH FLEXIBLE LINKS

被引：0

作者：

Stefano, Brillarelli ^{[1
]}

Palpacelli, Matteo-Claudio ^{[1
]}

机构：

[1] Polytech Univ Marche, Dept Ind Engn & Math Sci, I-60131 Ancona, Italy

来源：

PROCEEDINGS OF ASME 2021 INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, IDETC-CIE2021, VOL 7 | 2021年

关键词：

DYNAMIC-ANALYSIS; MECHANISMS;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper is focused on the development of an effective hardware and software architecture that is useful to improve the performance of slender parallel manipulators. The latter can perform high acceleration in fast pick and place applications, but their features can be also exploited in more advanced operations, where path following is a central issue. A simple and effective approach to model the elastodynamic behavior of flexible parallel manipulator is proposed, conceived to be fast and easy to implement in model-based control schemes. Moreover, a workbench architecture based on camera acquisitions is essential to calibrate the elastodynamic model and provide all the required information that are needed to improve path following of flexible mechanims.

引用

页数：10

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