[Paper Review] Kinematic and Dynamic Analyses of the Orthoglide 5-axis

Raza Ur-Rehman, Stéphane Caro+2 more|ArXiv.org|Sep 18, 2008

Robotic Mechanisms and Dynamics14 references3 citations

TL;DR

This paper presents a comprehensive kinematic and dynamic analysis of the Orthoglide 5-axis, a five-degree-of-freedom parallel manipulator combining a 3-axis translational mechanism with a spherical wrist. Using CAD-derived geometric and inertial parameters, the study develops analytical models to evaluate motor performance requirements across test trajectories, enabling precise motor selection from commercial catalogs for optimal system integration and dynamic performance.

ABSTRACT

This 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.

Motivation & Objective

• To develop a complete kinematic and dynamic model of the Orthoglide 5-axis, a 5-DOF parallel manipulator derived from the Orthoglide 3-axis and Agile Eye designs.
• To determine accurate geometric and inertial parameters of the manipulator using CAD software for subsequent dynamic modeling.
• To evaluate required motor performance for specified test trajectories to ensure dynamic feasibility.
• To select suitable motors from commercial catalogs based on the performance evaluation results.
• To enable optimal design and integration of the Orthoglide 5-axis for high-precision motion applications.

Proposed method

• Developed a kinematic model based on the serial chain and parallel architecture of the Orthoglide 5-axis, incorporating the 3-DOF translational stage and 2-DOF spherical wrist.
• Utilized CAD software to extract precise geometric and inertial parameters (mass, center of mass, inertia tensors) for all links and joints.
• Formulated dynamic equations of motion using recursive Newton-Euler or Lagrangian methods to model system dynamics.
• Simulated test trajectories to compute required actuator torques and velocities under dynamic loading conditions.
• Evaluated motor performance requirements (torque, speed, power) based on trajectory simulations and dynamic model outputs.
• Selected final motors from commercial catalogs by matching performance specifications to the computed requirements.

Experimental results

Research questions

• RQ1 How can the kinematic and dynamic models of the Orthoglide 5-axis be accurately formulated for a 5-DOF parallel manipulator?
• RQ2 What are the precise geometric and inertial parameters of the Orthoglide 5-axis derived from CAD modeling?
• RQ3 What actuator performance is required to achieve desired motion trajectories in terms of torque, speed, and power?
• RQ4 How can commercially available motors be effectively selected based on dynamic analysis results?
• RQ5 What is the impact of dynamic loading on motor selection and overall system performance in the Orthoglide 5-axis?

Key findings

• The kinematic and dynamic models of the Orthoglide 5-axis were successfully developed and validated using CAD-derived parameters.
• The geometric and inertial parameters of the manipulator were accurately extracted using CAD software, enabling precise dynamic modeling.
• Test trajectories revealed specific motor performance requirements, including peak torque and maximum speed, necessary for dynamic stability.
• The dynamic analysis enabled the selection of suitable motors from commercial catalogs that met or exceeded the required performance thresholds.
• The integration of kinematic and dynamic analysis with commercial motor selection ensures optimal performance and reliability in practical applications.
• The methodology provides a systematic framework for designing and sizing actuators in similar 5-DOF parallel manipulators.