The article describes the dynamic modelling of I.Ca.Ro., a novel Cartesian parallel robot recently designed and prototyped by the robotics research group of the Polytechnic University of Marche. By means of screw theory and virtual work principle, a computationally efficient model has been built, with the final aim of realising advanced model based controllers. Then a dynamic analysis has been performed in order to point out possible model simplifications that could lead to a more efficient run time implementation.
Dynamic modelling of a 3-CPU parallel robot via screw theory / Carbonari, Luca; M., Battistelli; Callegari, Massimo; Palpacelli, MATTEO CLAUDIO. - In: MECHANICAL SCIENCES. - ISSN 2191-9151. - STAMPA. - 4:1(2013), pp. 185-197. [10.5194/ms-4-185-2013]
Dynamic modelling of a 3-CPU parallel robot via screw theory
CARBONARI, LUCA;CALLEGARI, Massimo;PALPACELLI, MATTEO CLAUDIO
2013-01-01
Abstract
The article describes the dynamic modelling of I.Ca.Ro., a novel Cartesian parallel robot recently designed and prototyped by the robotics research group of the Polytechnic University of Marche. By means of screw theory and virtual work principle, a computationally efficient model has been built, with the final aim of realising advanced model based controllers. Then a dynamic analysis has been performed in order to point out possible model simplifications that could lead to a more efficient run time implementation.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
