Kinematic and Dynamic Analyses of the Orthoglide 5-axis
Robotics
2008-09-19 v1
Abstract
This paper deals with the kinematic and dynamic analyses of the Orthoglide 5-axis, a five-degree-of-freedom manipulator. It is derived from two manipulators: i) the Orthoglide 3-axis; a three dof translational manipulator and ii) the Agile eye; a parallel spherical wrist. First, the kinematic and dynamic models of the Orthoglide 5-axis are developed. The geometric and inertial parameters of the manipulator are determined by means of a CAD software. Then, the required motors performances are evaluated for some test trajectories. Finally, the motors are selected in the catalogue from the previous results.
Keywords
Cite
@article{arxiv.0809.3179,
title = {Kinematic and Dynamic Analyses of the Orthoglide 5-axis},
author = {Raza Ur-Rehman and Stéphane Caro and Damien Chablat and Philippe Wenger},
journal= {arXiv preprint arXiv:0809.3179},
year = {2008}
}