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

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dc.creatorPashkevich, Anatoly
dc.creatorChablat, Damien
dc.creatorWenger, Philippe
dc.date2007-08-27
dc.date.accessioned2026-07-07T08:25:53Z
dc.date.available2026-07-07T08:25:53Z
dc.descriptionThe 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.
dc.identifierhttps://arxiv.org/abs/0708.3613
dc.identifierhttp://arxiv.org/abs/0708.3613
dc.identifierRobotica 24, 1 (2006) 39-49
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/136771
dc.subjectRobotics
dc.titleKinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide
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