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Communication Dans Un Congrès Année : 2008

Kinematic and Dynamic Analyses of the Orthoglide 5-axis

Résumé

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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Dates et versions

hal-00322702 , version 1 (18-09-2008)

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Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger. Kinematic and Dynamic Analyses of the Orthoglide 5-axis. Congress on Mechatronics, May 2008, Le Grand-Bornand, France. pp.1-6. ⟨hal-00322702⟩
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