The Orthoglide: Kinematics and Workspace Analysis

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.

• Type: Journal
• Year: 2007
• Where: CORR
• Authors: Anatoly Pashkevich, Damien Chablat, Philippe Wenger
• Keywords: Cartesian X-y-z Space, CORR 2007, Education, Specific Joint Limit, Three-DOF Parallel Mechanism