The Orthoglide: Kinematics and Workspace Analysis - Computer Science > RoboticsReportar como inadecuado




The Orthoglide: Kinematics and Workspace Analysis - Computer Science > Robotics - Descarga este documento en PDF. Documentación en PDF para descargar gratis. Disponible también para leer online.

Abstract: The paper addresses kinematic and geometrical aspects of the Orthoglide, athree-DOF parallel mechanism. This machine consists of three fixed linearjoints, which are mounted orthogonally, three identical legs and a mobileplatform, which moves in the Cartesian x-y-z space with fixed orientation. Newsolutions to solve inverse-direct kinematics are proposed and a detailedworkspace analysis is performed taking into account specific joint limitconstraints.



Autor: Anatoly Pashkevich (Robotic Laboratory), Damien Chablat (IRCCyN), Philippe Wenger (IRCCyN)

Fuente: https://arxiv.org/







Documentos relacionados