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| HAL : hal-00168340, version 1 |
| arXiv : 0708.3613 |
| Fiche détaillée |  Récupérer au format |
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| Robotica 24, 1 (2006) 39-49 |
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| Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide |
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Anatoly Pashkevich 1Damien Chablat 2 |
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| (2006) |
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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. |
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| 1 : | Robotic Laboratory, Department of Control Systems (ROBOTIC LABORATORY) |
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Belarusian State University of Informatics and Radioelectronics |
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| 2 : | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) |
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CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes |
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| Méthode de Conception en Mécanique |
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| Domaine | : | Informatique/Robotique |
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| Parallel manipulators – Workspace isotropy – Inverse and direct kinematics – Singularity – Orthoglide. |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00168340, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00168340 | |
| oai:hal.archives-ouvertes.fr:hal-00168340 | |
| Contributeur : Damien Chablat | |
| Soumis le : Lundi 27 Août 2007, 16:01:35 | |
| Dernière modification le : Lundi 27 Août 2007, 16:06:07 | |
