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 a detailed workspace analysis is performed taking into account specific joint limit constraints.
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Pashkevich, A., Chablat, D., Wenger, P. (2004). The Orthoglide: Kinematics and Workspace Analysis. In: Lenarčič, J., Galletti, C. (eds) On Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-2249-4_26
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DOI: https://doi.org/10.1007/978-1-4020-2249-4_26
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6622-0
Online ISBN: 978-1-4020-2249-4
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