This paper describes a multi-body dynamics model for predicting disturbance forces and torques caused by a multistage manipulator (2 DOF) on a magnetically suspended platform (6 DOF). The manipulator consists of a beam attached to two parallel linear ironless actuators and a rotary arm underneath the beam. The model prediction can be used as a feed-forward in the control of the magnetic suspension of the platform. The model is verified with an experimental setup, that consists of a manipulator on an aluminium platform which is connected to the fixed world via a 6 DOF F/T sensor. The sensor is used to measure the forces and torques, that an ideal magnetic suspension will have to provide to compensate the for the disturbances given a certain movement of the manipulator. The measurements are compared with the predictions of the multi-body dynamics model.
|Number of pages||7|
|Publication status||Published - 2008|