Hostname: page-component-586b7cd67f-vdxz6 Total loading time: 0 Render date: 2024-11-26T02:13:51.128Z Has data issue: false hasContentIssue false
  • English
  • Français

Kinematics and workspace analysis of a three-axis parallel manipulator: the Orthoglide

Published online by Cambridge University Press:  17 November 2005

A. Pashkevich ,
D. Chablat  and
P. Wenger
A. Pashkevich
Affiliation:
Robotic Laboratory, Belarusian State University of Informatics and Radioelectronics, 6 P. Brovka St., Minsk, 220027 (Belarus) E-mail: [email protected]
D. Chablat
Affiliation:
Institut de Recherche en Communications et Cybernétique de Nantes, 1 rue de la Noë, BP 92 101, 44321 Nantes (France) E-mails: [email protected], [email protected]
P. Wenger
Affiliation:
Institut de Recherche en Communications et Cybernétique de Nantes, 1 rue de la Noë, BP 92 101, 44321 Nantes (France) E-mails: [email protected], [email protected]
Get access Rights & Permissions [Opens in a new window]

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 we perform a detailed workspace and singularity analysis, taking into account specific joint limit constraints.

Keywords

Parallel manipulatorsWorkspace isotropyInverse and direct kinematicsSingularity
Type
Research Article
Information
Robotica , Volume 24 , Issue 1 , January 2006 , pp. 39 - 49
Copyright
2005 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)