Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 81-86 |
| Number of pages | 7 |
| Journal | Electromotion |
| Volume | 15 |
| Issue number | 2 |
| Publication status | Published - 2008 |