区間解析を用いたオルソグライドの作業空間解析
Workspace Analysis of the Orthoglide using Interval Analysis
3自由度パラレル機構オルソグライドの作業空間を、指定された運動静特性に基づき区間解析で解析し、器用作業空間とその中に収まる最大立方体を求めた。
著者: Damien Chablat, Philippe Wenger, Jean-Pierre Merlet
分類: cs.RO
原文アブストラクト
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.
