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In this article, we propose a method for calculation of the inverse anddirect dynamic models of the Orthoglide, a parallel robot with threedegrees offreedom in translation. These models are calculated starting from the elementsof the dynamic model of the kinematic chain structure and equations ofNewton-Euler applied to the platform. These models are obtained in explicitform having an interesting physical interpretation.

Mod\'elisation Dynamique d'un Robot Parall\`ele \`a 3-DDL : l'Orthoglide