Optimization and comparison between two 6-DoF parallel kinematic machines for HIL simulations in wind tunnel

Fiore, Enrico; Giberti, Hermes

doi:10.1051/matecconf/20164504012

Cited by 9 publications

(6 citation statements)

References 12 publications

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“…The second robot has been designed on a 1:3 scale with the same controller, electrical architecture and communication infrastructure in order to be able to develop, verify and optimize the control and safety algorithms without keeping the wind tunnel occupied. The robot design and development has been effected using modern project methodologies among which are genetic algorithm based kinematic synthesis [15,16], MSC Adams-Simulink co-simulation environment and FEM analysis [17]. The final result is a fully parallel six DOF robot, based on the Prismatic-Universal-Spherical (PUS) or (PRRS) joints configuration, actuated by six drive brushless motors through ball screw-slider connections.…”

Section: The Hil Systemmentioning

confidence: 99%

High Performance Motion-Planner Architecture for Hardware-In-the-Loop System Based on Position-Based-Admittance-Control

Mura

Todeschini²,

Giberti

2018

Robotics

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This article focuses on a Hardware-In-the-Loop application developed from the advanced energy field project LIFES50+. The aim is to replicate, inside a wind gallery test facility, the combined effect of aerodynamic and hydrodynamic loads on a floating wind turbine model for offshore energy production, using a force controlled robotic device, emulating floating substructure's behaviour. In addition to well known real-time Hardware-In-the-Loop (HIL) issues, the particular application presented has stringent safety requirements of the HIL equipment and difficult to predict operating conditions, so that extra computational efforts have to be spent running specific safety algorithms and achieving desired performance. To meet project requirements, a high performance software architecture based on Position-Based-Admittance-Control (PBAC) is presented, combining low level motion interpolation techniques, efficient motion planning, based on buffer management and Time-base control, and advanced high level safety algorithms, implemented in a rapid real-time control architecture.

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Section: The Hil Systemmentioning

confidence: 99%

High Performance Motion-Planner Architecture for Hardware-In-the-Loop System Based on Position-Based-Admittance-Control

Mura

Todeschini²,

Giberti

2018

Robotics

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“…The first one is installed below the wind tunnel floor and properly dimensioned for HIL tests in the contest of the LIFES50+ experimental activities [10][11][12]. The second robot is a 1:3 faithful scaled reproduction of the first installed in a laboratory and designed to develop, verify and optimize the control and safety algorithms without the use of the wind tunnel.…”

Section: Hexafloat Robot Descriptionmentioning

confidence: 99%

“…Multiple requirements have been taken into account during the robot design and optimization. Extensive description of the optimization process is provided in [11,[13][14][15]. The result of the design process is a fully parallel six DOF robot, based on the PUS (PRRS) joints configuration, actuated by six direct drive brushless motors, that realize six prismatic joints by means of direct ballscrew-slider connection.…”

Section: Hexafloat Robot Descriptionmentioning

confidence: 99%

Workspace Limiting Strategy for 6 DOF Force Controlled PKMs Manipulating High Inertia Objects

et al. 2018

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Abstract:This article describes an efficient and effective strategy for limiting the workspace of a six degrees of freedom parallel manipulator, with challenging motion smoothness requirements due to both the high inertia objects carried by the end effector and the pose references coming from a force feedback loop. Firstly, a suitable formulation of the workspace is studied, distinguishing between different conventions and procedures. Thereafter a discrete and analytical formulation of the workspace is obtained and developed in order to suit this application. Having obtained the limits, a methodology to evaluate the robot pose is discussed, taking into account the reference pose buffering technique and the real time pose estimation through the numeric solution of the nonlinear forward kinematics equations. The safety algorithm designed checks the actual robot pose and future poses to be commanded, and takes control of the reference pose generation process, if an exit of the safety workspace is detected. The result obtained is a soft compliant surface within which the robot is free to move, but outside of which a "force field" pushes the robot end-effector to return smoothly. To reach this objective, the control deflects the end effector trajectory safely and smoothly and moves it back to within the workspace limits. Nevertheless, this preserves the continuity of the velocity and controls the acceleration, to avoid dangerous vibrations and shocks. Simulation and experimental result tests are conducted to verify the algorithm effectiveness and the efficient implementation.

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“…This topology has been selected in order to guarantee high performance in terms of dynamic response and structural properties with the view to reduce the size vertically. Within this category, the two manipulators shown in Figure 3 have been chosen and evaluated [5]. The first one is called Hexaglide, having parallel linear guides and therefore is characterized by symmetry with respect to the longitudinal median plane.…”

Section: Geometric and Kinematic Designmentioning

confidence: 99%

“…An optimization process [5] is required in order to synthesize the geometric parameters of the two chosen robot architectures and evaluate which is the best solution. To properly set up the process, it is first necessary to identify the geometric parameters characterizing the two architectures and thereafter a function that mathematically describes the goal to be achieved.…”

Section: Kinetostatic Optimizationmentioning

confidence: 99%

Fully Mechatronical Design of an HIL System for Floating Devices

et al. 2018

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Recent simulation developments in Computational Fluid Dynamics (CFD) have widely increased the knowledge of fluid–structure interaction. This has been particularly effective in the research field of floating bodies such as offshore wind turbines and sailboats, where air and sea are involved. Nevertheless, the models used in the CFD analysis require several experimental parameters in order to be completely calibrated and capable of accurately predicting the physical behaviour of the simulated system. To make up for the lack of experimental data, usually wind tunnel and ocean basin tests are carried out. This paper presents a fully mechatronical design of an Hardware In the Loop (HIL) system capable of simulating the effects of the sea on a physical scaled model positioned in a wind tunnel. This system allows one to obtain all the required information to characterize a model subject, and at the same time to assess the effects of the interaction between wind and sea waves. The focus of this work is on a complete overview of the procedural steps to be followed in order to reach a predefined performance.

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Optimization and comparison between two 6-DoF parallel kinematic machines for HIL simulations in wind tunnel

Cited by 9 publications

References 12 publications

High Performance Motion-Planner Architecture for Hardware-In-the-Loop System Based on Position-Based-Admittance-Control

High Performance Motion-Planner Architecture for Hardware-In-the-Loop System Based on Position-Based-Admittance-Control

Workspace Limiting Strategy for 6 DOF Force Controlled PKMs Manipulating High Inertia Objects

Fully Mechatronical Design of an HIL System for Floating Devices

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