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Conference papers

Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide

Abstract : In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are calculated starting from the elements of the dynamic model of the kinematic chain structure and equations of Newton-Euler applied to the platform. These models are obtained in explicit form having an interesting physical interpretation.
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https://hal.archives-ouvertes.fr/hal-00162630
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Submitted on : Sunday, July 15, 2007 - 9:03:37 AM
Last modification on : Wednesday, April 27, 2022 - 4:16:28 AM
Long-term archiving on: : Thursday, April 8, 2010 - 11:14:59 PM

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  • HAL Id : hal-00162630, version 1
  • ARXIV : 0707.2185

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Sylvain Guegan, Wisama Khalil, Damien Chablat, Philippe Wenger. Modélisation Dynamique d'un Robot Parallèle à 3-DDL : l'Orthoglide. CIFA, Jul 2002, Nantes, France. pp.1-6. ⟨hal-00162630⟩

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