1,721,045 research outputs found
Analysis and synthesis of 3D motion for multi-body systems with regard to sport performances
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A contribution to the dynamics of free-flying space manipulators
No full textThis paper deals with the analysis of the motion of free flying space manipulators. One of the problems of this class of robots is that any movement of the joints produces a rotation of its base. This should be avoided. Approximate solutions to this problem have been proposed using the concept of the disturbance map. The paper presents an exact solution showing how a proper design of the robot introduces some dynamic singularities which allow us to plan sequences of movements that do not affect the orientation of the robot base
Path planning of free-flying space manipulators: an exact solution for polar robots
No full textMotion planning for free-flying robots can be quite complex due to the fact that any movement of the joints influences the position andthe orientation of the spacecraft which carries the manipulator. Several studies have been carried out to plan joint trajectories which eliminate the effects of the dynamic disturbances.Approximate solutions to this problem have been proposedusing the concept of the Disturbance Map.The authors have already studied this problem for the case of 2 DOF and 3 DOF planar robots connected with revolute joints developing an exact solution based on the concept of dynamic singularities.Aim of this paper is to extendthe proposedmethod ology to the case of planar polar manipulators, analyzing the peculiarities of these robot arm configurations. A numerical procedure for the evaluation of zero disturbance trajectories is also presented and application examples are developed. The adoption of the proposed strategy improves the performances of spacecraft_s attitude control syste
An Unified Design Procedure for Flying Machining Operations
No full text"Flying machining" represents synchronization of an axis (slave) with a master axis in motion. One of the most important aspects of the design of “flying machining” operation is the choice of the proper law of motion of the slave axis. In literature, technical reports and papers can be found concerning this subject, but they deal with specific problems and the solutions or suggestions proposed are specific as well, suitable for those cases. In order to try to overcome this limitation, in this paper we analyze the subject of the flying machining operations from a wider point of view. We propose a uni?ed design procedure with general validity, suitable for the choice of the slave axis’ law of motion for whatever “flying machining” operation. Furthermore methodologies for the selection of the drive system will be proposed. The procedure is described applying it on a cross sealing operation, typical of wrapping machine
A homogeneous matrix approach to 3D kinematics and dynamics .2. Applications to chains of rigid bodies and serial manipulators
No full textIn this paper we present applications of the new approach to the kinematic and dynamic analysis of systems of rigid bodies presented in Part I. An extension of the method to the Lagrangian formulation of the dynamics of chains of rigid bodies is also presented. The kinematic and dynamic analysis is preformed for a generic serial manipulator either in open and closed loop. Two numerical examples concerning an open loop and a closed loop are presented too. Two software packages based on our approach are also briefly introduced
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