55 research outputs found
Kinematic and Dynamic Analyses of the Orthoglide 5-axis
International audienceThis paper deals with the kinematic and dynamic analyses of the Orthoglide 5-axis, a five-degree-of-freedom manipulator. It is derived from two manipulators: i) the Orthoglide 3-axis; a three dof translational manipulator and ii) the Agile eye; a parallel spherical wrist. First, the kinematic and dynamic models of the Orthoglide 5-axis are developed. The geometric and inertial parameters of the manipulator are determined by means of a CAD software. Then, the required motors performances are evaluated for some test trajectories. Finally, the motors are selected in the catalogue from the previous results
Kinematic Analysis and Trajectory Planning of the Orthoglide 5-axis
The subject of this paper is about the kinematic analysis and the trajectory
planning of the Orthoglide 5-axis. The Orthoglide 5-axis a five degrees of
freedom parallel kinematic machine developed at IRCCyN and is made up of a
hybrid architecture, namely, a three degrees of freedom translational parallel
manip-ulator mounted in series with a two degrees of freedom parallel spherical
wrist. The simpler the kinematic modeling of the Or-thoglide 5-axis, the higher
the maximum frequency of its control loop. Indeed, the control loop of a
parallel kinematic machine should be computed with a high frequency, i.e.,
higher than 1.5 MHz, in order the manipulator to be able to reach high speed
motions with a good accuracy. Accordingly, the direct and inverse kinematic
models of the Orthoglide 5-axis, its inverse kine-matic Jacobian matrix and the
first derivative of the latter with respect to time are expressed in this
paper. It appears that the kinematic model of the manipulator under study can
be written in a quadratic form due to the hybrid architecture of the Orthoglide
5-axis. As illustrative examples, the profiles of the actuated joint angles
(lengths), velocities and accelerations that are used in the control loop of
the robot are traced for two test trajectories.Comment: Appears in International Design Engineering Technical Conferences \&
Computers and Information in Engineering Conference, Aug 2015, Boston, United
States. 201
Kinematic and Dynamic Analysis of the 2-DOF Spherical Wrist of Orthoglide 5-axis
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
Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide
The paper addresses kinematic and geometrical aspects of the Orthoglide, a
three-DOF parallel mechanism. This machine consists of three fixed linear
joints, which are mounted orthogonally, three identical legs and a mobile
platform, which moves in the Cartesian x-y-z space with fixed orientation. New
solutions to solve inverse/direct kinematics are proposed and we perform a
detailed workspace and singularity analysis, taking into account specific joint
limit constraints
Compliance error compensation technique for parallel robots composed of non-perfect serial chains
The paper presents the compliance errors compensation technique for
over-constrained parallel manipulators under external and internal loadings.
This technique is based on the non-linear stiffness modeling which is able to
take into account the influence of non-perfect geometry of serial chains caused
by manufacturing errors. Within the developed technique, the deviation
compensation reduces to an adjustment of a target trajectory that is modified
in the off-line mode. The advantages and practical significance of the proposed
technique are illustrated by an example that deals with groove milling by the
Orthoglide manipulator that considers different locations of the workpiece. It
is also demonstrated that the impact of the compliance errors and the errors
caused by inaccuracy in serial chains cannot be taken into account using the
superposition principle.Comment: arXiv admin note: text overlap with arXiv:1204.175
- …