Dynamic Modeling of the Orthoglide

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 base 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.

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