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

Sylvain Guegan (1) , Wisama Khalil (1) , Damien Chablat (1) , Philippe Wenger (1)

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

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.

Mots clés: Parallel robot; 3-DOF mecanism; dynamics; closed-loop chain; inverse dynamic model; direct dynamic model

Domaines: Robotique [cs.RO]

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⟩