<p>This paper is focused on the development of an effective hardware and software architecture that is useful to improve the<br>
performance of slender parallel manipulators. The latter can perform high acceleration in fast pick and place applications,<br>
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 manipulators is proposed, conceived to be fast and easy to implement in model-based control schemes. It is based on the principal of virtual work based on the D'Alembert principle. Such choice allows to obtain an ordinary differential system for the dynamic equations, easy to be integrated and based only on independent variables. Moreover, a workbench architecture based on&nbsp;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. The workbench is conceived as a high frame rate&nbsp;camera that observes a small portion of the manipular workspace in order to detect the displacement of the end effector of the manipulator&nbsp;with high resolution. Some simulations demonstrate the computation&nbsp;efficiency of the model that can be used in model-based control schemes.</p>

An Effective Approach to Model Parallel Robots With Flexible Links

Paper Proceedings: https://asmedigitalcollection.asme.org/IDETC-CIE/IDETC-CIE2021/volume/85369

ASME 2021 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE2021)

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