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* Corresponding author 1 ROBOTIC LABORATORY - Robotic Laboratory, Department of Control Systems 2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

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.

Keywords : Parallel manipulators Workspace Inverse and direct kinematics Orthoglide

Autor: Anatoly Pashkevich - Damien Chablat - Philippe Wenger -



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