並列ロボットarXiv:0707.2185
3自由度並列ロボットOrthoglideの動力学モデリング
Mod\'elisation Dynamique d'un Robot Parall\`ele \`a 3-DDL : l'Orthoglide
3自由度並進並列ロボットOrthoglideの逆動力学・順動力学モデルを、運動連鎖の動力学要素とプラットフォームへのNewton-Euler方程式から陽形式で導出した論文。
著者: Sylvain Guegan, Wisama Khalil, Damien Chablat, Philippe Wenger
分類: cs.RO
原文アブストラクト
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.
