Kinematic and Dynamic Analyses of the Orthoglide 5-axis

Details Kinematic and Dynamic Analyses of the Orthoglide 5-axis Kinematic and Dynamic Analyses of the Orthoglide 5-axis

2008-09-18

arxiv.org/abs/0809.3179v1

Congress on Mechatronics, Le Grand-Bornand : France (2008)

Computer Science

Robotics

Scientific paper

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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