%0 Journal Article
%T Dynamic modelling of a 3-CPU parallel robot via screw theory
%A L. Carbonari
%A M. Battistelli
%A M. Callegari
%A M.-C. Palpacelli
%J Mechanical Sciences (MS)
%D 2013
%I Copernicus Publications
%R 10.5194/ms-4-185-2013
%X 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.
%U http://www.mech-sci.net/4/185/2013/ms-4-185-2013.html