Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide

Philippe Wenger (1) , Damien Chablat (1)

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

This paper describes a new parallel kinematic architecture for machining applications: the orthoglide. This machine 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 main interest of the orthoglide is that it takes benefit from the advantages of the popular PPP serial machines (regular Cartesian workspace shape and uniform performances) as well as from the parallel kinematic arrangement of the links (less inertia and better dynamic performances), which makes the orthoglide well suited to high-speed machining applications. Possible extension of the orthoglide to 5-axis machining is also investigated.

Mots clés: Isotropic design; parallel mechanism; Orthoglide; Jacobian matrix; singular configuration

Domaines: Robotique [cs.RO]

Philippe Wenger, Damien Chablat. Kinematic Analysis of a New Parallel Machine Tool: the Orthoglide. ARK, 2000, Slovenia. pp.1-11. ⟨hal-00165169⟩