Architecture Optimization of a 3-DOF Translational Parallel Mechanism for Machining Applications, the Orthoglide - Computer Science > RoboticsReport as inadecuate




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Abstract: This paper addresses the architecture optimization of a 3-DOF translationalparallel mechanism designed for machining applications. The design optimizationis conducted on the basis of a prescribed Cartesian workspace with prescribedkinetostatic performances. The resulting machine, the Orthoglide, featuresthree fixed parallel linear joints which are mounted orthogonally and a mobileplatform which moves in the Cartesian x-y-z space with fixed orientation. Theinteresting features of the Orthoglide are a regular Cartesian workspace shape,uniform performances in all directions and good compactness. A small-scaleprototype of the Orthoglide under development is presented at the end of thispaper.



Author: Damien Chablat IRCCyN, Philippe Wenger IRCCyN

Source: https://arxiv.org/







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