Workspace Analysis of the Orthoglide using Interval Analysis

Damien Chablat (1) , Philippe Wenger (1) , Jean-Pierre Merlet (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 COPRIN - Constraints solving, optimization and robust interval analysis

This paper addresses the workspace analysis of the orthoglide, a 3-DOF parallel mechanism designed for machining applications. This machine 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 workspace analysis is conducted on the bases of prescribed kinetostatic performances. The interesting features of the orthoglide are a regular Cartesian workspace shape, uniform performances in all directions and good compactness. Interval analysis based methods for computing the dextrous workspace and the largest cube enclosed in this workspace are presented.

Mots clés: Optimal design; Parallel Mechanism; Machining; Workspace; Interval Analysis; Transmission factor; Orthoglide

Domaines: Robotique [cs.RO]

Damien Chablat, Philippe Wenger, Jean-Pierre Merlet. Workspace Analysis of the Orthoglide using Interval Analysis. 2002, Caldes de Malavella, Spain. pp.1-10. ⟨hal-00145304⟩