Dynamic modelling of a 3-CPU parallel robot via screw theory

Carbonari, L.; Battistelli, M.; Callegari, M.; Palpacelli, M.-C.

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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Carbonari, L. / Battistelli, M. / Callegari, M. / et al: Dynamic modelling of a 3-CPU parallel robot via screw theory. 2013. Copernicus Publications.

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