High-speed robotics is growing fast as a new research and application field, with more and more demanding requirements actually posed to robots' builders; sometimes the design of brand new mechanical architectures is needed (e.g. lightweight parallel machines) but, if possible, re-engineering of existing models will provide more economical solutions. This is presently the case of the CO2 High Speed Cartesian robot produced by Campetella Robotic Center, that is already characterized by good dynamic performances but has been chosen by the producer for a re-engineering that should allow it to meet even more advanced targets. First experimental tests showed that some important interventions were needed for the upgrade, therefore a full dynamic modelling has been performed by the University of Ancona to try to get the best of the existing hardware during the re-engineering phase. The simple mechanical architecture of the Cartesian robot allowed to outline a typical modelling approach that took profit of the f ull integration of the used software packages; a campaign of experimental measures has been performed for the validation of the mathematical models and to assess the dynamic behaviour of the mechanical structure through modal testing.

Dynamic Models for the Re-Engineering of a High-Speed Cartesian Robot

CALLEGARI, Massimo;SANTOLINI, Claudio;
2001

Abstract

High-speed robotics is growing fast as a new research and application field, with more and more demanding requirements actually posed to robots' builders; sometimes the design of brand new mechanical architectures is needed (e.g. lightweight parallel machines) but, if possible, re-engineering of existing models will provide more economical solutions. This is presently the case of the CO2 High Speed Cartesian robot produced by Campetella Robotic Center, that is already characterized by good dynamic performances but has been chosen by the producer for a re-engineering that should allow it to meet even more advanced targets. First experimental tests showed that some important interventions were needed for the upgrade, therefore a full dynamic modelling has been performed by the University of Ancona to try to get the best of the existing hardware during the re-engineering phase. The simple mechanical architecture of the Cartesian robot allowed to outline a typical modelling approach that took profit of the f ull integration of the used software packages; a campaign of experimental measures has been performed for the validation of the mathematical models and to assess the dynamic behaviour of the mechanical structure through modal testing.
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