Kinematics and workspace analysis of a three-axis parallel manipulator: the Orthoglide

被引：37

作者：

Pashkevich, A

Chablat, D

Wenger, P

机构：

[1] Inst Rech Commun & Cybernet Nantes, F-44321 Nantes, France

[2] Belarusian State Univ Informat & Radioelect, Robot Lab, Minsk 220027, BELARUS

来源：

ROBOTICA | 2006年 / 24卷

关键词：

parallel manipulators; workspace isotropy; inverse and direct kinematics; singularity;

D O I：

10.1017/S0263574704000347

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：39 / 49

页数：11

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