Orthoglide 5軸ロボットの2自由度球面手首の運動学・動力学解析
Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis
Orthoglide 5軸の球面手首（2自由度並列マニピュレータ）について、CADでパラメータを決めて運動学・動力学モデルを構築し、試験軌道で性能を評価した。加工力や工具長が動的性能に与える影響も解析し、モータ選定の予備検討を行った。
著者: Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger
分類: cs.RO, physics.class-ph
原文アブストラクト
This paper deals with the kinematics and dynamics of a two degree of freedom spherical manipulator, the wrist of Orthoglide 5-axis. The latter is a parallel kinematics machine composed of two manipulators: i) the Orthoglide 3-axis; a three-dof translational parallel manipulator that belongs to the family of Delta robots, and ii) the Agile eye; a two-dof parallel spherical wrist. The geometric and inertial parameters used in the model are determined by means of a CAD software. The performance of the spherical wrist is emphasized by means of several test trajectories. The effects of machining and/or cutting forces and the length of the cutting tool on the dynamic performance of the wrist are also analyzed. Finally, a preliminary selection of the motors is proposed from the velocities and torques required by the actuators to carry out the test trajectories.
