Dynamic models for the re-engineering of a high-speed Cartesian robot

The CO2 high speed Cartesian robot produced by Campetella Robotic Center, is characterised by good dynamic performances, but has been chosen by the producer for a re-engineering that should allow it to meet even more advanced targets. First, experimental tests showed that some important interventions were needed for the upgrade, therefore a full dynamic modelling has been performed by the University of Ancona to try to get the best of the existing hardware during the re-engineering phase. The simple mechanical architecture of the Cartesian robot allows one to outline a typical modelling approach that takes advantages of the full integration of the used software packages. Experimental measures have been performed for the validation of the mathematical models and to assess the dynamic behaviour of the mechanical structure through modal testing