Modelling and simulation of a gripper with Dymola

摘要

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.