Articles | Volume 4, issue 1
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

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.