The Orthoglide: Kinematics and Workspace Analysis
Robotics
2007-05-23 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 a detailed workspace analysis is performed taking into account specific joint limit constraints.
Keywords
Cite
@article{arxiv.0705.1394,
title = {The Orthoglide: Kinematics and Workspace Analysis},
author = {Anatoly Pashkevich and Damien Chablat and Philippe Wenger},
journal= {arXiv preprint arXiv:0705.1394},
year = {2007}
}