Robot I.Ca.Ro.


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


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.


Prototipo del robot I.Ca.Ro.: la forma a portale del telaio ha consentito di eseguire sperimentazioni sull’interazione del robot con altre macchine a cinematica parallela a mobilità ridotta.
Prototipo di sistema collaborativo a 6 gradi di libertà: il robot I.Ca.Ro. svolge compiti di pura traslazione su uno spazio di lavoro dotato di moto sferico impartito dal robot Sphe.I.Ro.
Telecamera high frame rate utilizzata per asservimento visuale del robot I.Ca.Ro. in configurazione eye-on-hand (inquadramento dello spazio di lavoro direttamente dall’end-effector del robot).


  • 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.