Dynamic stiffness model of spherical parallel robots

Cammarata, Alessandro; Caliò, Ivo; D׳Urso, D.; Greco, Annalisa; Lacagnina, Michele; Fichera, Gabriele

doi:10.1016/j.jsv.2016.08.014

Cited by 32 publications

(11 citation statements)

References 42 publications

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“…Moreover, the figure shows the spacers (red colored) required to avoid interference and to respect the kinematic parameters of the previous section. Following the same reasoning used for spherical robots [13][14][15], it can be demonstrated that the ideal revolute joint is located at the intersection of the skewed axes and that the direction of each hinge is normal to the plane of the corresponding cell.…”

Section: Design Of the Real Systemmentioning

confidence: 99%

Design of a Large Deployable Reflector Opening System

et al. 2020

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Large Deployable Reflectors (LDR) are receiving considerable attention from aerospace government companies and researchers. In this paper, the design of the opening system of a LDR is presented. Starting from an elementary cell, a first ideal kinematic model is discussed. Then, a more complex "design model" including feasible design solutions for joints and links is developed. The final design avoids collisions between links while maintaining the original kinematic features.

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Section: Design Of the Real Systemmentioning

confidence: 99%

Design of a Large Deployable Reflector Opening System

et al. 2020

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“…The elastodynamic model of the flexible ring truss support can be found using analytic techniques combined with matrix structural analysis [54][55][56][57], elliptic integrals [58,59], FEM models [60][61][62], and flexible multibody formulations [63].…”

Section: Flexible Ring Truss Supportmentioning

confidence: 99%

Tie-System Calibration for the Experimental Setup of Large Deployable Reflectors

et al. 2019

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The trade-off between the design phase and the experimental setup is crucial in satisfying the accuracy requirements of large deployable reflectors. Manufacturing errors and tolerances change the root mean square (RMS) of the reflecting surface and require careful calibration of the tie-rod system to be able to fit into the initial design specifications. To give a possible solution to this problem, two calibration methods—for rigid and flexible ring truss supports, respectively—are described in this study. Starting from the acquired experimental data on the net nodal co-ordinates, the initial problem of satisfying the static equilibrium with the measured configuration is described. Then, two constrained optimization problems (for rigid or flexible ring truss supports) are defined to meet the desired RMS accuracy of the reflecting surface by modifying the tie lengths. Finally, a case study to demonstrate the validity of the proposed methods is presented.

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“…The elastodynamic model of the flexible ring truss support can be found using analytic techniques combined with the Matrix Structural Analysis, [53][54][55][56], elliptic integrals [57,58], FEM models [59][60][61], and flexible multibody formulations [62]. This implies the displacement of the nodes connected to the truss support, also called vertices, 132 when the net system is tensioned.…”

Section: Flexible Ring Truss Supportmentioning

confidence: 99%

Tie-System Calibration for the Experimental Setup of Large Deployable Reflectors

Cammarata¹,

Sinatra²,

Rigato³

et al. 2019

Preprint

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The tradeoff between the design phase and the experimental setup is crucial to satisfy the accuracy requirement of Large Deployable Reflectors. Manufacturing errors and tolerances change the RMS of the reflecting surface and require careful calibration of the tie rod system to be able to fit into the initial design specifications. To give a possible solution to this problem, here two calibration methods, respectively for rigid and flexible ring truss support, are described. Starting from the acquired experimental data on the net nodal coordinates, the initial problem of satisfying the static equilibrium at the measured configuration is described. Then, two constrained optimization problems, for rigid and flexible ring truss support, are defined to meet RMS accuracy of the reflecting surface modifying the tie lengths. Finally, a case study to demonstrate the validity of the proposed methods is presented.

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Dynamic stiffness model of spherical parallel robots

Cited by 32 publications

References 42 publications

Design of a Large Deployable Reflector Opening System

Design of a Large Deployable Reflector Opening System

Tie-System Calibration for the Experimental Setup of Large Deployable Reflectors

Tie-System Calibration for the Experimental Setup of Large Deployable Reflectors

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