Orthoglideパラレルロボットの動力学解析
Dynamics of the Orthoglide parallel robot
3本の直動アクチュエータを持つOrthoglideパラレルロボットについて、逆運動学と仮想仕事の原理に基づく逆動力学を定式化し、各アクチュエータの入力力とパワーを求めた論文。
著者: Damien Chablat, Philippe Wenger, Stefan Staicu
分類: cs.RO
原文アブストラクト
Recursive matrix relations for kinematics and dynamics of the Orthoglide parallel robot having three concurrent prismatic actuators are established in this paper. These are arranged according to the Cartesian coordinate system with fixed orientation, which means that the actuating directions are normal to each other. Three identical legs connecting to the moving platform are located on three planes being perpendicular to each other too. Knowing the position and the translation motion of the platform, we develop the inverse kinematics problem and determine the position, velocity and acceleration of each element of the robot. Further, the principle of virtual work is used in the inverse dynamic problem. Some matrix equations offer iterative expressions and graphs for the input forces and the powers of the three actuators.
