Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide
Robotics
2007-08-27 v1
Abstract
This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed Cartesian workspace with prescribed kinetostatic performances. The resulting machine, the Orthoglide, features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with fixed orientation. The interesting features of the Orthoglide are a regular Cartesian workspace shape, uniform performances in all directions and good compactness. A small-scale prototype of the Orthoglide under development is presented at the end of this paper.
Keywords
Cite
@article{arxiv.0708.3381,
title = {Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide},
author = {Damien Chablat and Philippe Wenger},
journal= {arXiv preprint arXiv:0708.3381},
year = {2007}
}