Articles | Volume 4, issue 1
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:
Research article
| 
24 Apr 2013
Research article |
| 24 Apr 2013
Dynamic modelling of a 3-CPU parallel robot via screw theory
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.
