Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide

Details Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide

2007-08-27

arxiv.org/abs/0708.3613v1

Robotica 24, 1 (2006) 39-49

Computer Science

Robotics

Scientific paper

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.

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