Università Politecnica delle Marche, Via Brecce Bianche, 60131, Ancona, Italy
Received: 15 Nov 2012 – Revised: 15 Mar 2013 – Accepted: 05 Apr 2013 – Published: 24 Apr 2013
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.
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.