The present article is taken from a paper presented at the 18th RAAD International Workshop and discusses the dynamic model of the I.Ca.Ro. Cartesian Parallel Manipulator, a research parallel kinematics machine (PKM) with 3-CPU architecture which is capable of motions of pure translation: the modelling of robot's dynamics has been performed by means of the principle of virtual works and several computer simulations allowed a thorough study of its dynamic behaviour. The first experimental tests have shown the effectiveness of the model even if further investigations have to be undertaken to account for friction and joint deflections.
Dynamic Analysis of the I.Ca.Ro. Parallel Manipulator / Callegari, Massimo; Carbonari, Luca; Palpacelli, MATTEO CLAUDIO. - In: INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL. - ISSN 1590-8844. - STAMPA. - 11:1(2010), pp. 81-87.
Dynamic Analysis of the I.Ca.Ro. Parallel Manipulator
CALLEGARI, Massimo;CARBONARI, LUCA;PALPACELLI, MATTEO CLAUDIO
2010-01-01
Abstract
The present article is taken from a paper presented at the 18th RAAD International Workshop and discusses the dynamic model of the I.Ca.Ro. Cartesian Parallel Manipulator, a research parallel kinematics machine (PKM) with 3-CPU architecture which is capable of motions of pure translation: the modelling of robot's dynamics has been performed by means of the principle of virtual works and several computer simulations allowed a thorough study of its dynamic behaviour. The first experimental tests have shown the effectiveness of the model even if further investigations have to be undertaken to account for friction and joint deflections.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
