Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances

@article{Pashkevich2007KinematicAS,
  title={Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances},
  author={Anatoly Pashkevich and Philippe Wenger and Damien Chablat},
  journal={Proceedings 2007 IEEE International Conference on Robotics and Automation},
  year={2007},
  pages={549-554}
}
The Orthoglide is a Delta-type PKM dedicated to 3-axis rapid machining applications that was originally developed at IRCCyN in 2000-2001 to meet the advantages of both serial 3-axis machines (regular workspace and homogeneous performances) and parallel kinematic architectures (good dynamic performances and stiffness). This machine has three fixed parallel linear joints that are mounted orthogonally. The geometric parameters of the Orthoglide were defined as function of the size of a prescribed… CONTINUE READING