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Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide (0708.3613v1)
Published 27 Aug 2007 in cs.RO
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.