Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide
Robotics
2007-08-28 v1
Abstract
The paper addresses kinematic and geometrical aspects of the Orthoglide, a three-DOF parallel mechanism. This machine consists of three fixed linear joints, which are mounted orthogonally, three identical legs and a mobile platform, which moves in the Cartesian x-y-z space with fixed orientation. New solutions to solve inverse/direct kinematics are proposed and we perform a detailed workspace and singularity analysis, taking into account specific joint limit constraints.
Keywords
Cite
@article{arxiv.0708.3613,
title = {Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide},
author = {Anatoly Pashkevich and Damien Chablat and Philippe Wenger},
journal= {arXiv preprint arXiv:0708.3613},
year = {2007}
}