Abstract

This paper describes the application of a five-axis manipulator with a particular architecture containing only revolute joints to the performance of maintenance operations on the concrete spire of the “Madonna delle Lacrime” church, in Siracusa, Italy. The kinematics model is derived and a computation of the joint coordinates and their time rates are calculated by the least-squares approximation, as proposed by Angeles. The Newton-Eulero algorithm is implemented for a simulation of the inverse dynamics of a not-simple trajectory in Cartesian space required to perform the maintenance task.

Volume Subject Area:
17th Biennial Conference on Mechanical Vibration and Noise
Topics:
Maintenance, Manipulators, Algorithms, Computation, Concretes, Dynamics (Mechanics), Kinematics, Least squares approximations, Simulation, Trajectories (Physics)
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