Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide

Details Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide

2007-05-09

arxiv.org/abs/0705.1282v1

Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators (2002) 1-9

Computer Science

Robotics

Scientific paper

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.

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