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arXiv : 0910.3811

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UPB Scientific Bulletin, Series D: Mechanical Engineering 71, 3 (2009) 3-16

Dynamics of the Orthoglide parallel robot

Damien Chablat 1, Philippe Wenger 1, Stefan Staicu 2

(2009)

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.

1 :	Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN)
	CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes
2 :	Department of Mechanics
	Politehnica University of Bucharest

Équipe de recherche : Méthodes de Conception en Mécanique

Domaine

:

Informatique/Robotique

Mots Clés : Dynamics – Kinematics – Parallel robot – Virtual work

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Contributeur : Damien Chablat <>

Soumis le : Mardi 20 Octobre 2009, 12:07:17

Dernière modification le : Mardi 20 Octobre 2009, 13:19:03