Robot I.Ca.Ro.

HIGHLIGHTS

• parallel kinematics machine
• innovative cartesian robot
• pure translation platform
• impedance control

SUMMARY

I.Ca.Ro. (Innovative Cartesian Robot) is a prototype robot with an innovative parallel architecture developed by the Machine Mechanics Group. The kinematics used gives the mobile platform 3 degrees of freedom of pure translation and is therefore of great interest for a wide range of applications. Among the most interesting performances are the vertical thrust of 4300 N , the maximum speed and acceleration of 1.06 m/s and 9 g in the vertical direction, respectively. The control system is implemented on a dSPACE board: PID position control currently allows the terminal to be controlled along classical trajectories, while active impedance control allows the manipulator to interact with the external environment.

PUBLICATIONS

• Callegari, M., Palpacelli, M., Scarponi, M. Kinematics of the 3-CPU parallel manipulator assembled for motions of pure translation (2005) Proceedings – IEEE International Conference on Robotics and Automation, 2005, art. no. 1570736, pp. 4020-4025.
• Carbonari, L., Battistelli, M., Callegari, M., Palpacelli, M.-C. Dynamic modelling of a 3-CPU parallel robot via screw theory (2013) Mechanical Sciences, 4 (1), pp. 185-197.
• Palmieri, G., Martarelli, M., Palpacelli, M.C., Carbonari, L. Configuration-dependent modal analysis of a Cartesian parallel kinematics manipulator: Numerical modeling and experimental validation (2014) Meccanica, 49 (4), pp. 961-972.
• Carbonari, L. Simplified approach for dynamics estimation of a minor mobility parallel robot (2015) Mechatronics, 30, pp. 76-84.