Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide

TL;DR

This paper analyzes the kinematics and workspace of the Orthoglide, a three-axis parallel manipulator, proposing new solutions for inverse and direct kinematics, and examining workspace and singularities considering joint limits.

Contribution

It introduces novel solutions for inverse and direct kinematics and provides a detailed workspace and singularity analysis for the Orthoglide mechanism.

Findings

New inverse and direct kinematic solutions

Comprehensive workspace analysis including joint limits

Singularity characterization of the Orthoglide

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 we perform a detailed workspace and singularity analysis, taking into account specific joint limit constraints.