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workspace isotropy

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Kinematics and workspace analysis of a three-axis parallel manipulator: the Orthoglide
A. Pashkevich, D. Chablat, P. Wenger
Journal:

Robotica / Volume 24 / Issue 1 / January 2006

Published online by Cambridge University Press:

17 November 2005, pp. 39-49
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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.