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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: pap@bsuir.unibel.by
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: Damien.Chablat@irccyn.ec-nantes.fr, Philippe.Wenger@irccyn.ec-nantes.fr
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: Damien.Chablat@irccyn.ec-nantes.fr, Philippe.Wenger@irccyn.ec-nantes.fr
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Abstract

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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.

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