Kinematic and Dynamic Analyses of the Orthoglide 5-axis

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Ur-Rehman, Raza
Caro, Stéphane
Chablat, Damien
Wenger, Philippe
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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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Computer Science - Robotics
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