Orthoglide 5軸マニピュレータの運動学・動力学解析
Kinematic and Dynamic Analyses of the Orthoglide 5-axis
直動3自由度のOrthoglideと球面手首Agile eyeを組み合わせた5自由度パラレルマニピュレータについて、運動学・動力学モデルを構築し、CADでパラメータを決定してテスト軌道でのモータ性能を評価・選定した論文。
著者: Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger
分類: cs.RO
原文アブストラクト
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.
