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In this work a parallel manipulator (Stewart platform) is used to align and maintain the position of the secondary mirror of a radio-telescope. The six degrees of freedom platform gives the significant advantage of reaching the maximum performance for the positioning tasks. The near-singularity condition of the platform is analyzed and is handled by implementation of a new control law based on sliding...
In this paper, the operation features of Milli-CaTraSys (Milli-Cassino Tracking System) are outlined. Models and formulations both for kinematics and statics are proposed. Results of experimental tests for calibration and operation are reported to show the feasibility and efficiency of a Milli-CaTraSys prototype.
In this work a parallel manipulator (Stewart platform) is used to align and maintain the position of the secondary mirror of a radio-telescope. The six degree of freedom platform gives the significant advantage to reach the maximum performance for the positioning task. This system uses six lineal actuators with changeable lengths to obtain the desired position. The filtered version of sliding mode...
In this paper, operation performance of CaPaMan2 bis (Cassino Parallel Manipulator bis) has been investigated through numerical simulations and lab experimental tests. A 3D (three dimension) virtual model has been built in MSC.ADAMS environment to simulate the operation behaviour for different prescribed motions. Milli-CaTraSys (Milli-Cassino Tracking System) has been implemented to measure position...
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