1,721,259 research outputs found
Optimization and comparison between two 6-DoF parallel kinematic machines for HIL simulations in wind tunnel
No full textParallel Robots are for sure the best choice for those applications in which a high accuracy and a high stiffness are required. As a matter of fact the closed-loop kinematic chains that characterize these machines guarantee a very low sensitivity of the end-effector position to the various sources of error. However the working volume of parallel kinematic machines is in general limited with respect to their dimensions. Moreover the reduced mobility range of the passive joints represents a critical aspect that cannot be underestimated. For these reasons PKMs should be optimized for the application they are meant.Given the specifications of the workspace that the machine should be able to cover, it’s necessary to identify an architecture that is suitable for this specific task. This paper describes the optimization process and the comparison between two candidates, the Hexaslide and the Gough-Stewart platform, in order to find out which one is the best choice for a task that requires to reproduce the hydrodynamic effect of sea waves at the bottom of scale models of off-shore wind turbines and boats during HIL simulations in the wind tunnel of the Politecnico di Milano
A Kalman filter and a variable structure controller for the control of pneumatic cylinders
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Simulation of a robotic arm for multi-directional 3d printing
Full text linkThe need to investigate new solutions and novel 3D building strategies not only
requires the development of new slicing algorithms and the exploitation of machines with more
than 3 Dofs, but also a safe and reliable test-bench to optimize all the phases of the process. The
following article describes the assessment by simulation of suitable control architectures for the
realization of a Fused Deposition Modeling printer based on a 6 Dofs serial manipulator. The
focus is put on the obtained position and speed profiles for unidirectional and multi-directional
3D printing to determine the week points associated with each control strategy
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