Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide
Robotics
2007-05-23 v1
Abstract
The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It 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 orthoglide has been designed as function of a prescribed Cartesian workspace with prescribed kinetostatic performances. 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.0705.1282,
title = {Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide},
author = {Philippe Wenger and Damien Chablat},
journal= {arXiv preprint arXiv:0705.1282},
year = {2007}
}