Digital Twin Development of HexaFloat, a 6DoF PKM for HIL Tests
作者： Ivan Raineri , Francesco La Mura , Hermes Giberti
DOI: 10.1007/978-3-030-03320-0_28
关键词: Mechatronics 、 Field (computer science) 、 Software 、 Computer science 、 Actuator 、 Kinematics 、 Control engineering 、 Hexapod 、 Replication (computing) 、 Control logic
摘要: This paper deals with the creation of a digital replication an hexapod robot. To pursue this goal two software are used jointly to catch dual nature mechatronic system. The mechanical aspects system represented by ADAMS\(^{\tiny \textregistered }\), while control logic loops behavior is handled SIMULINK\(^{\tiny }\). In addition, actuators friction characterization performed. co-simulation apparatus opens number possibilities such as preliminary tests feasibility and off-line estimation kinematic parameters without sensors, widening field applications machine itself.
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