Michał MANKA, Grzegorz KARPIEL, Maciej PETKO, Janusz OCHONSKI, Konrad GAC
And Grzegorz GORA
AGH University of Krakow Faculty of Mechanical Engineering and Robotics,
Department of Robotics and Mechatronics, Kraków
The paper presents the virtual prototyping of a parallel manipulator for milling. Using parallel manipulators as a numerically controlled milling machine has many advantages. However, due to their specificity, they require advanced control algorithms that must be tuned before they are implemented on a physical device. The process of tuning the control system can be carried out by using virtual prototyping, especially by co-simulation of the control system model and the dynamic model of the device, which is presented in this article.