パラレル機構arXiv:0705.1394
オルソグライド：運動学と作業空間解析
The Orthoglide: Kinematics and Workspace Analysis
3自由度パラレル機構オルソグライドの逆・順運動学の新解法を提案し、関節限界を考慮した作業空間を詳細に解析した論文。
著者: Anatoly Pashkevich, Damien Chablat, Philippe Wenger
分類: cs.RO
原文アブストラクト
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.
