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Mechanical Sciences An open-access journal for theoretical and applied mechanics
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Volume 4, issue 1
Mech. Sci., 4, 185–197, 2013
https://doi.org/10.5194/ms-4-185-2013
© Author(s) 2013. This work is distributed under
the Creative Commons Attribution 3.0 License.

Special issue: Recent advances and current trends in numerical multibody...

Mech. Sci., 4, 185–197, 2013
https://doi.org/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

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 L. Carbonari et al.
  • 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.

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