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arXiv · 0809.3179

Kinematic and Dynamic Analyses of the Orthoglide 5-axis

Raza Ur-Rehman·Stéphane Caro·Damien Chablat·Philippe Wenger
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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.

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Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger. 2008-09-18. Kinematic and Dynamic Analyses of the Orthoglide 5-axis. https://arxiv.org/abs/0809.3179

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