DYNAMIC MODELING OF THE ORTHOGLIDE

机译：邻苯二甲酸酯的动态建模

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This paper presents a novel solution for the inverse and forward dynamic models of the Orthoglide, a 3-DOF parallel robot that moves in the Cartesian space with fixed orientation. The models are computed in terms of the Cartesian dynamic model of the legs and of the Newton-Euler equation of the platform. The hase inertial parameters of the robot, which constitute the minimum number of inertial parameters, are determined. The numbers of operations to compute the inverse and direct dynamic models are given.

机译：本文提出了Orthoglide的反向和正向动力学模型的新颖解决方案。Orthoglide是一种在固定方向上在笛卡尔空间中移动的3自由度并联机器人。根据腿的笛卡尔动力学模型和平台的牛顿-欧拉方程来计算模型。确定构成最小数量的惯性参数的机器人的急速惯性参数。给出了计算逆动态模型和直接动态模型的运算次数。

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来源
《The Eight International Symposium on Advances in Robot Kinematics Jun, 2002 Caldes de Malavella in Spain》|2002年|p.387-396|共10页
会议地点 Caldes de Malavella(ES)
作者
Sylvain Guegan; Wisama Khalil;
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作者单位

Institut de Recherche en Communications et Cybernetigue de Nantes (IRCCyN) BP 92101, 1 rue de la Noee, 44321 Nantes Cedex 03, France;

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会议组织
原文格式 PDF
正文语种 eng
中图分类自动化技术、计算机技术;
关键词
parallel robots; inverse dynamic model; forward dynamic model; base parameters; operational space; inertial parameters; computation cost;

机译：并行机器人;逆动力学模型;正向动力学模型;基本参数;运行空间;惯性参数;计算成本;

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1. DYNAMICS OF THE ORTHOGLIDE PARALLEL ROBOT [J] . Damien CHABLAT, Philippe WENGER, Stefan STAICU University Politechnica of Bucharest scientific bulletin, D. Mechanical Engineering . 2009,第3期

机译：邻列平行机器人的动力学
2. Robust generalized predictive control of the Orthoglide robot [J] . Fabian Andres Lara-Molina, Joao Mauricio Rosario, Didier Dumur, Industrial Robot . 2014,第3期

机译：Orthoglide机器人的鲁棒广义预测控制
3. Multi-objective path placement optimization of parallel kinematics machines based on energy consumption, shaking forces and maximum actuator torques: Application to the Orthoglide [J] . Raza Ur-Rehman, Stephane Caro, Damien Chablat, Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods . 2010,第8期

机译：基于能耗，振动力和最大执行器扭矩的并联运动机多目标路径布置优化：在Orthoglide中的应用
4. DYNAMIC MODELING OF THE ORTHOGLIDE [C] . Sylvain Guegan, Wisama Khalil International symposium on advances in robot kinematics . 2002

机译：正轨动态建模
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7. Dynamics of the Orthoglide parallel robot [O] . Chablat Damien, Wenger Philippe, Staicu Stefan 2009

机译：Orthoglide的动力学

DYNAMIC MODELING OF THE ORTHOGLIDE

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