The Orthoglide: Kinematics and Workspace Analysis
نویسندگان
چکیده
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.
منابع مشابه
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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 a...
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ورودعنوان ژورنال:
- CoRR
دوره abs/0705.1394 شماره
صفحات -
تاریخ انتشار 2007