Mod\'elisation Dynamique d'un Robot Parall\`ele \`a 3-DDL : l'Orthoglide
Robotics
2007-07-17 v1
Abstract
In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are calculated starting from the elements of the dynamic model of the kinematic chain structure and equations of Newton-Euler applied to the platform. These models are obtained in explicit form having an interesting physical interpretation.
Keywords
Cite
@article{arxiv.0707.2185,
title = {Mod\'elisation Dynamique d'un Robot Parall\`ele \`a 3-DDL : l'Orthoglide},
author = {Sylvain Guegan and Wisama Khalil and Damien Chablat and Philippe Wenger},
journal= {arXiv preprint arXiv:0707.2185},
year = {2007}
}