Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide

TL;DR

This paper presents the design and optimization of the Orthoglide, a 3-DOF translational parallel mechanism optimized for machining, featuring a regular workspace, uniform performance, and compactness, with a prototype demonstrated.

Contribution

It introduces the Orthoglide mechanism with optimized architecture for machining, emphasizing workspace shape and performance uniformity.

Findings

Orthoglide achieves a regular Cartesian workspace.

The mechanism provides uniform kinetostatic performance.

A prototype of the Orthoglide is under development.

Abstract

This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed Cartesian workspace with prescribed kinetostatic performances. The resulting machine, the Orthoglide, 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 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.