Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide

Damien Chablat (1) , Philippe Wenger (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed Cartesian workspace with prescribed kinetostatic performances. The resulting machine, the Orthoglide, features three fixed parallel linear joints which are mounted orthogonally and a mobile platform which moves in the Cartesian x-y-z space with fixed orientation. The interesting features of the Orthoglide are a regular Cartesian workspace shape, uniform performances in all directions and good compactness. A small-scale prototype of the Orthoglide under development is presented at the end of this paper.

Mots clés: Orthoglide; Parallel mechanism; Optimal design; Singularity; Isotropic design; Workspace; Orthoglide.

Domaines: Robotique [cs.RO]

Damien Chablat, Philippe Wenger. Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide. IEEE Transactions on Robotics and Automation, 2003, 19 (3), pp.403-410. ⟨hal-00168179⟩