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Romansy 16 pp 39-46 | Cite as

Virtual Prototyping of a New Parallel Robot for Milling

  • Maciej Petko
  • Grzegorz Karpiel
  • Daniel Prusak
  • Tadeusz Uhl
Part of the CISM Courses and Lectures book series (CISM, volume 487)

Abstract

In the paper, the mechatronic procedure toward parallel robots development with special emphasis placed on the virtual prototyping stage was described on the example of a new 3-DOF parallel manipulator design. For this manipulator, two dynamic models were created and verified: multibody model for simulating the manipulator’s dynamic behaviour and the analytical, structural one, for designing of a controller. An initial controller was virtually designed and experimentally tested with physical prototype of the manipulator. The performance of this initial controller is sufficient for conducting identification experiment, which is needed for more advanced nonlinear control strategies.

Keywords

Parallel Manipulator Virtual Prototype Parallel Robot Mechatronic System Prismatic Joint 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Maciej Petko
    • 1
  • Grzegorz Karpiel
    • 1
  • Daniel Prusak
    • 1
  • Tadeusz Uhl
    • 1
  1. 1.AGH University of Science and TechnologyKrakówPoland

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