Abstract
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.
Subject
Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering
Reference25 articles.
1. Abdellatif, H. and Heimann, B.: Computational efficient inverse dynamics of 6-DOF fully parallel manipulators by using the Lagrangian formalism, Mech. Mach. Theory, 44, 192–207, https://doi.org/10.1016/j.mechmachtheory.2008.02.003, 2009.
2. Caccavale, F., Siciliano, B., and Villani, L.: The Tricept robot: dynamics and impedance control, Mechatronics, IEEE/ASME Transactions on, 8, 263–268, https://doi.org/10.1109/TMECH.2003.812839, 2003.
3. Callegari, M. and Palpacelli, M.-C.: Prototype design of a translating parallel robot, Meccanica, 43, 133–151, https://doi.org/10.1007/s11012-008-9116-8, https://doi.org/10.1007/s11012-008-9116-8, 2008.
4. Carbonari, L.: Extended analysis of the 3-cpu reconfigurable class of parallel robotic manipulators, Ph.D. thesis, Polytechnic University of Marche, Ancona, Italy, 2012.
5. Carbonari, L. and Callegari, M.: The kinematotropic 3-CPU parallel robot: analysis of mobility and reconfigurability aspects, in: Latest Advances in Robot Kinematics, edited by: Lenar$\\mathrm{\\check{c}}i\\mathrm{\\check{c}}$, J. and Husty, M., Springer, 2012.
Cited by
15 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献