Modelling and simulation of a gripper with Dymola

Gianni Ferretti, Gianantonio Magnani, Paolo Rocco and Luca Viganò

Mathematical and Computer Modelling of Dynamical Systems, 2006, vol. 12, issue 1, 89-102

Abstract: As an opportunity to show the evolution of the state of the art in modular physical modelling, the model of a gripper for space robotics applications, already developed in the MOSES environment, has been re-implemented in the Dymola environment, adopting the new Modelica multibody library recently developed. The new library allows a truly object-oriented approach, while being efficient from a computational point of view.

Date: 2006
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DOI: 10.1080/13873950500071405

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