Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis

Raza Ur-Rehman (1) , Stéphane Caro (1) , Damien Chablat (1) , Philippe Wenger (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

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.

Mots clés: Spherical mechanism; Agile eye; Orthoglide 5-axis; kinematics; dynamics

Domaines: Robotique [cs.RO]; Génie mécanique [physics.class-ph]; Génie mécanique [physics.class-ph]

Raza Ur-Rehman, Stéphane Caro, Damien Chablat, Philippe Wenger. Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis. Troisième Congrès International. Conception et Modélisation des Systèmes Mécaniques, Mar 2009, Hammamet, Tunisia. pp.1-8. ⟨hal-00372622⟩