Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide

Details Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide

2007-08-24

arxiv.org/abs/0708.3381v1

IEEE Transactions on Robotics and Automation 19, 3 (2003) 403-410

Computer Science

Robotics

Scientific paper

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.

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