加工用途向け3軸等方性パラレルマニピュレータOrthoglideの設計
Design of a Three-Axis Isotropic Parallel Manipulator for Machining Applications: The Orthoglide
加工用途向けに設計された3自由度パラレル機構Orthoglideを提案し、直交配置された3本の固定リニアジョイントにより規則的な作業空間と等方的な性能を実現する設計を示した。
著者: Philippe Wenger, Damien Chablat
分類: cs.RO
原文アブストラクト
The orthoglide is a 3-DOF parallel mechanism designed at IRCCyN for machining applications. It 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 orthoglide has been designed as function of a prescribed Cartesian workspace with prescribed kinetostatic performances. 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.
