Dynamic modelling of a 3-CPU parallel robot via screw theory
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, wi...
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| Veröffentlicht in: | Mechanical sciences (Göttingen) 2013-04, Vol.4 (1), p.185-197 |
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| Hauptverfasser: | , , , |
| Format: | Artikel |
| Sprache: | eng |
| Schlagworte: | |
| Online-Zugang: | Volltext |
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| Zusammenfassung: | 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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| ISSN: | 2191-916X 2191-9151 2191-916X |
| DOI: | 10.5194/ms-4-185-2013 |