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arXiv · 0707.2185

Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide

Sylvain Guegan·Wisama Khalil·Damien Chablat·Philippe Wenger
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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.

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Sylvain Guegan, Wisama Khalil, Damien Chablat, Philippe Wenger. 2007-07-15. Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide. https://arxiv.org/abs/0707.2185

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