Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide

Philippe Wenger (1) , Damien Chablat (1)

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

The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It 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 orthoglide has been designed as function of a prescribed Cartesian workspace with prescribed kinetostatic performances. 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: Parallel mechanism; Optimal design; Singularity; Isotropic design; Orthoglide

Domaines: Robotique [cs.RO]

Philippe Wenger, Damien Chablat. Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide. 2002, Québec, Canada. pp.1-9. ⟨hal-00145281⟩