The Orthoglide: Kinematics and Workspace Analysis

Details The Orthoglide: Kinematics and Workspace Analysis The Orthoglide: Kinematics and Workspace Analysis

2007-05-10

arxiv.org/abs/0705.1394v1

9th International Symposium on Advances in Robot Kinematics (2004) 1-10

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 a detailed workspace analysis is performed taking into account specific joint limit constraints.

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