Workspace Analysis of the Orthoglide using Interval Analysis

TL;DR

This paper uses interval analysis to evaluate the workspace of the orthoglide, a 3-DOF parallel robot, highlighting its regular shape, uniform performance, and compactness for machining tasks.

Contribution

It introduces interval analysis methods for computing the dextrous workspace and the largest inscribed cube, providing a novel approach to workspace analysis of parallel mechanisms.

Findings

Orthoglide has a regular Cartesian workspace shape.

The workspace exhibits uniform performance in all directions.

Interval analysis effectively computes the dextrous workspace and inscribed cube.

Abstract

This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. 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 workspace analysis is conducted on the bases of prescribed kinetostatic performances. The interesting features of the orthoglide are a regular Cartesian workspace shape, uniform performances in all directions and good compactness. Interval analysis based methods for computing the dextrous workspace and the largest cube enclosed in this workspace are presented.