Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide - Archive ouverte HAL Access content directly
Conference Papers Year : 2002

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

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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Dates and versions

hal-00162630 , version 1 (15-07-2007)

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Sylvain Guegan, Wisama Khalil, Damien Chablat, Philippe Wenger. Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide. CIFA, Jul 2002, Nantes, France. pp.1-6. ⟨hal-00162630⟩
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