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Robotics 2018, 7(3), 39;

Fully Mechatronical Design of an HIL System for Floating Devices

Dipartimento di Ingegneria Industriale e dell’Informazione, Università degli Studi di Pavia, Via A. Ferrata 5, 27100 Pavia, Italy
Department of Mechanical Engineering, Politecnico di Milano, 20156 Milano, Italy
Authors to whom correspondence should be addressed.
Received: 22 May 2018 / Revised: 5 July 2018 / Accepted: 11 July 2018 / Published: 20 July 2018
(This article belongs to the Special Issue Kinematics and Robot Design)


Recent simulation developments in Computational Fluid Dynamics (CFD) have widely increased the knowledge of fluid–structure interaction. This has been particularly effective in the research field of floating bodies such as offshore wind turbines and sailboats, where air and sea are involved. Nevertheless, the models used in the CFD analysis require several experimental parameters in order to be completely calibrated and capable of accurately predicting the physical behaviour of the simulated system. To make up for the lack of experimental data, usually wind tunnel and ocean basin tests are carried out. This paper presents a fully mechatronical design of an Hardware In the Loop (HIL) system capable of simulating the effects of the sea on a physical scaled model positioned in a wind tunnel. This system allows one to obtain all the required information to characterize a model subject, and at the same time to assess the effects of the interaction between wind and sea waves. The focus of this work is on a complete overview of the procedural steps to be followed in order to reach a predefined performance. View Full-Text
Keywords: parallel kinematic machine; kinematic optimisation; hardware in the loop; mechatronic design parallel kinematic machine; kinematic optimisation; hardware in the loop; mechatronic design

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Giberti, H.; La Mura, F.; Resmini, G.; Parmeggiani, M. Fully Mechatronical Design of an HIL System for Floating Devices. Robotics 2018, 7, 39.

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