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

摘要

The paper addresses kinematic and geometrical aspects of the Orthoglide, athree-DOF parallel mechanism. This machine consists of three fixed linearjoints, which are mounted orthogonally, three identical legs and a mobileplatform, which moves in the Cartesian x-y-z space with fixed orientation. Newsolutions to solve inverse/direct kinematics are proposed and we perform adetailed workspace and singularity analysis, taking into account specific jointlimit constraints.