The Orthoglide: Kinematics and Workspace Analysis
Anatoly Pashkevich (Robotic Laboratory), Damien Chablat (IRCCyN),, Philippe Wenger (IRCCyN)
TL;DR
This paper analyzes the kinematics and workspace of the Orthoglide, a three-degree-of-freedom parallel robot, proposing new inverse and forward kinematic solutions and examining the workspace within joint constraints.
Contribution
It introduces novel solutions for inverse and forward kinematics of the Orthoglide and provides a detailed workspace analysis considering joint limits.
Findings
New inverse and direct kinematic solutions for Orthoglide
Comprehensive workspace analysis with joint constraints
Enhanced understanding of Orthoglide's kinematic capabilities
Abstract
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 a detailed workspace analysis is performed taking into account specific joint limit constraints.
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