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

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<p><strong>Abstract.</strong> 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.</p>




Carbonari, L., Battistelli, M., Callegari, M., & Palpacelli, M. C. (2013). Dynamic modelling of a 3-CPU parallel robot via screw theory. Mechanical Sciences, 4(1), 185–197. https://doi.org/10.5194/ms-4-185-2013

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