Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide

Anatol Pashkevich (1) , Damien Chablat (2) , Philippe Wenger (2)

1 ROBOTIC LABORATORY - Robotic Laboratory, Department of Control Systems
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

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.

Mots clés: Orthoglide; Parallel manipulators; Workspace isotropy; Inverse and direct kinematics; Singularity; Orthoglide.

Domaines: Robotique [cs.RO]

Anatol Pashkevich, Damien Chablat, Philippe Wenger. Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide. Robotica, 2006, 24 (1), pp.39-49. ⟨hal-00168340⟩