In this paper, the development of models of parallel manipulator is described, based on components of the Modelica standard library only. At first, the dynamic model of a Delta robot is illustrated and validated with respect to experimental data. Then, the model of a Stewart platform is discussed. Thanks to the symbolic manipulation capabilities of the OpenModelica compiler, the model is then used to automatically generate the inverse dynamics, which is in general is a quite difficult task.
Object-Oriented Models of Parallel Manipulators
P. Campanini;G. Ferretti
2021-01-01
Abstract
In this paper, the development of models of parallel manipulator is described, based on components of the Modelica standard library only. At first, the dynamic model of a Delta robot is illustrated and validated with respect to experimental data. Then, the model of a Stewart platform is discussed. Thanks to the symbolic manipulation capabilities of the OpenModelica compiler, the model is then used to automatically generate the inverse dynamics, which is in general is a quite difficult task.File in questo prodotto:
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