Kinematic and Dynamic Analyses of the Orthoglide 5-axis
  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. 
Raza Ur-Rehman (IRCCyN), St\'ephane Caro (IRCCyN), Damien Chablat   (IRCCyN), Philippe Wenger (IRCCyN)