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Architecture optimization of a 3-DOF translational parallel mechanism for machining applications, the orthoglide

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2 Author(s)
D. Chablat ; Inst. de Recherche en Commun. et Cybernetique de Nantes, France ; P. Wenger

This paper addresses the architecture optimization of a three-degree-of-freedom translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed Cartesian workspace with prescribed kinetostatic performances. The resulting machine, the Orthoglide, features three fixed parallel linear joints which are mounted orthogonally, and a mobile platform which moves in the Cartesian x-y-z space with fixed orientation. The interesting features of the Orthoglide are a regular Cartesian workspace shape, uniform performances in all directions, and good compactness. A small-scale prototype of the Orthoglide under development is presented at the end of this paper.

Published in:

IEEE Transactions on Robotics and Automation  (Volume:19 ,  Issue: 3 )