Abstract
Parallel 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.
Highlights
Nowadays one of the most important lines of research is the study of the interaction between the wind and civil structures
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 hardware in the loop (HIL) simulations in the wind tunnel of the Politecnico di Milano
For this reason it's important to equip the wind tunnel of the Politecnico di Milano with a machine that takes as a input the forces and moments recorded by a 6axes balance at the bottom of the scale models of floating off-shore wind turbines (FOWT) and boats, and on the basis of a mathematical model of the sea imposes a movement to the scale models [1]
Summary
Nowadays one of the most important lines of research is the study of the interaction between the wind and civil structures. In parallel kinematic manipulators the interaction mechanisms between the errors of each joint and those of the end-effector are far too complex with respect to serial robots with the result of having a lower sensitivity of the positioning errors of the end-effector After these considerations two different architectures of hexapods were identified as suitable candidates to perform the hardware in the loop (HIL) simulations: (1) the Hexaslide which is made of a mobile platform. As a matter of fact here the wind profile is different with respect to the real one and so it's important that the scale models don't enter in this zone For this reason the tool center point (TCP) of the manipulator should stay as low as possible.
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