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Mechanical Sciences An open-access journal for theoretical and applied mechanics

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Mech. Sci., 4, 185-197, 2013
http://www.mech-sci.net/4/185/2013/
doi:10.5194/ms-4-185-2013
© Author(s) 2013. This work is distributed
under the Creative Commons Attribution 3.0 License.
Research article
24 Apr 2013
Dynamic modelling of a 3-CPU parallel robot via screw theory
L. Carbonari, M. Battistelli, M. Callegari, and M.-C. Palpacelli Università Politecnica delle Marche, Via Brecce Bianche, 60131, Ancona, Italy
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.

Citation: Carbonari, L., Battistelli, M., Callegari, M., and Palpacelli, M.-C.: Dynamic modelling of a 3-CPU parallel robot via screw theory, Mech. Sci., 4, 185-197, doi:10.5194/ms-4-185-2013, 2013.
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