This paper describes a new parallel kinematic architecture for machining applications, namely, the orthoglide. 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 main interest of the orthoglide is that it takes benefit from the advantages of the popular PPP serial machines (regular Cartesian workspace shape and uniform performances) as well as from the parallel kinematic arrangement of the links (less inertia and better dynamic performances), which makes the orthoglide well suited to high-speed machining applications. Possible extension of the orthoglide to 5-axis machining is also investigated.
Institut de Recherches en Communications et Cybernetique de Nantes（南特通信与控制研究所）；Ecole des Mines de Nantes（南特矿业学院）
This paper focuses on the performance evaluation of the parallel manipulators for milling of composite materials. For this application the most significant performance measurements, which denote the ability of the manipulator for the machining are defined. In this case, optimal synthesis task is solved as a multicriterion optimization problem with respect to the geometric, kinematic, kinetostatic, elastostostatic, dynamic properties. It is shown that stiffness is an important performance factor. Previous models operate with links approximation and calculate stiffness matrix in the neighborhood…
Institut de Recherche en Communication et Cybernétique de Nantes（南特通信与控制研究所）
This paper characterizes geometrically the singularities of limited DOF parallel manipulators. The geometric conditions associated with the dependency of six Plücker vector of lines (finite and infinite) constituting the rows of the inverse Jacobian matrix are formulated using Grassmann-Cayley algebra. Manipulators under consideration do not need to have a passive spherical joint somewhere in each leg. This study is illustrated with three example robots
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制论研究所）；McGill University（麦吉尔大学）
The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-O-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-O-Cam was reported elsewhere. This drive thus provides pure-rolling motion, thereby reducing the friction of rack-and-pinions and linear drives. Such properties can be used to design new transmissions for parallel-kinematics machines. In this paper, this transmission is optimized to replace ball-screws in Orthoglide, a three-DOF parallel robot optimized for machining applications.
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；CNRS（法国国家科学研究中心）；McGill University（麦吉尔大学）
The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-o-Cam was reported elsewhere. This drive thus provides pure-rolling motion, thereby reducing the friction of rack-and-pinions and linear drives. Such properties can be used to design new transmissions for parallel-kinematics machines. In this paper, this transmission is intended to replace the ball-screws in Orthoglide, a three-dof parallel robot intended for machining applications.
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制论研究所）；INRIA Sophia-Antipolis（法国国家信息与自动化研究所索菲亚-安蒂波利斯分院）
This paper addresses the workspace analysis of two 3-DOF translational parallel mechanisms designed for machining applications. The two machines features three fixed linear joints. The joint axes of the first machine are orthogonal whereas these of the second are parallel. In both cases, the mobile platform moves in the Cartesian $x-y-z$ space with fixed orientation. The workspace analysis is conducted on the basis of prescribed kinetostatic performances. Interval analysis based methods are used to compute the dextrous workspace and the largest cube enclosed in this workspace.
Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN)（南特通信与控制研究所（IRCCyN））
This paper addresses the architecture optimization of a 3-DOF translational parallel mechanism designed for machining applications. The design optimization is conducted on the basis of a prescribed Cartesian workspace with prescribed kinetostatic performances. The resulting machine, the Orthoglide, 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 interesting features of the Orthoglide are a regular Cartesian workspace shape, uniform performances in all directions and good compac…
In this paper, a method to mimic a human face and eyes is proposed which can be regarded as a combination of computer vision techniques and neural network concepts. From a mechanical standpoint, a 3-DOF spherical parallel robot is used which imitates the human head movement. In what concerns eye movement, a 2-DOF mechanism is attached to the end-effector of the 3-DOF spherical parallel mechanism. In order to have robust and reliable results for the imitation, meaningful information should be extracted from the face mesh for obtaining the pose of a face, i.e., the roll, yaw, and pitch angles. T…
NUS (Suzhou) Research Institute (NUSRI)（新加坡国立大学（苏州）研究院（NUSRI））
Gastrointestinal endoscopic surgery (GES) has high requirements for instruments' size and distal dexterity, because of the narrow endoscopic channel and long, tortuous human gastrointestinal tract. This paper utilized Nickel-Titanium (NiTi) wires to develop a miniature 3-DoF (pitch-yaw-translation) flexible parallel robotic wrist (FPRW). Additionally, we assembled an electric knife on the wrist's connection interface and then teleoperated it to perform an endoscopic submucosal dissection (ESD) on porcine stomachs. The effective performance in each ESD workflow proves that the designed FPRW has…
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制论研究所）；Ecole Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；Ecole des Mines de Nantes（南特矿业学院）；CNRS（法国国家科学研究中心）；INRIA Sophia-Antipolis（法国国家信息与自动化研究所索菲亚-安提波利斯分部）
This paper addresses an interval analysis based study that is applied to the design and the comparison of 3-DOF parallel kinematic machines. Two design criteria are used, (i) a regular workspace shape and, (ii) a kinetostatic performance index that needs to be as homogeneous as possible throughout the workspace. The interval analysis based method takes these two criteria into account: on the basis of prescribed kinetostatic performances, the workspace is analysed to find out the largest regular dextrous workspace enclosed in the Cartesian workspace. An algorithm describing this method is intro…
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；McGill University（麦吉尔大学）
The subject of this paper is a special class of three-degree-of-freedom parallel manipulators. The singular configurations of the two Jacobian matrices are first studied. The isotropic configurations are then found based on the characteristic length of this manipulator. The isoconditioning loci for the Jacobian matrices are plotted to define a global performance index allowing the comparison of the different working modes. The index thus resulting is compared with the Cartesian workspace surface and the average of the condition number.
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；McGill University（麦吉尔大学）
The subject of this paper is a special class of parallel manipulators. First, we analyze a family of three-degree-of-freedom manipulators. Two Jacobian matrices appear in the kinematic relations between the joint-rate and the Cartesian-velocity vectors, which are called the "inverse kinematics" and the "direct kinematics" matrices. The singular configurations of these matrices are studied. The isotropic configurations are then studied based on the characteristic length of this manipulator. The isoconditioning loci of all Jacobian matrices are computed to define a global performance index to co…
Institut de Recherches en Communications et Cybernétique de Nantes（南特通信与控制研究所）；CNRS（法国国家科学研究中心）；Ecole Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；Ecole des Mines de Nantes（南特矿业学院）
Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative study of two simple two-degree-of-freedom PKM dedicated to machining applications is led through this method: the common desired properties are the largest square Cartesian workspace for given kinetostatic performances. The orientation and position of the Cartesian workspace are chosen to avoid singularities and to produce the best ratio between Cartesian workspace size and mechanism size. The mac…
National University of Singapore (NUS)（新加坡国立大学）；Advanced Robotics Center (ARC) at NUS（新加坡国立大学先进机器人中心）
The shoulder is responsible for the movement of the entire upper limb. It is capable of articulating in three degrees-of-freedom (DOF), enabling the arm to perform manipulation actions with incomparable dexterity. Exoskeletons targeting the shoulder must be able to emulate its complex kinematics. While typical architectures have proven to be useful, they employ complex and usually inadequate techniques to match the mobility of the shoulder. A new 2-DOF soft robotic shoulder exoskeleton is presented. Modular soft robotic actuators with separated inflation modules on the exoskeleton are able to …
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制论研究所）；École Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；École des Mines de Nantes（南特矿业学院）
This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional and angular variations. First, a linkage kinematic analysis method is used to have a rough idea of the influence of the dimensional variations on the location of the end-effector. Besides, this method shows that variations in the design parameters of the same type from one leg to the other have the same influence on the end-effector. However, this method does not take into account the variations in …
We present a mesoscale finger-mounted 4-degree-of-freedom (DoF) haptic device that is created using origami fabrication techniques. The 4-DoF device is a parallel kinematic mechanism capable of delivering normal, shear, and torsional haptic feedback to the fingertip. Traditional methods of robot fabrication are not well suited for designing small robotic devices because it is challenging and expensive to manufacture small, low-friction joints. Our device uses origami manufacturing principles to reduce complexity and the device footprint. We characterize the bandwidth, workspace, and force outp…
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制论研究所）
The aim of this paper is to compute of the generalized aspects, i.e. the maximal singularity-free domains in the Cartesian product of the joint space and workspace, for a planar parallel mechanism in using quadtree model and interval analysis based method. The parallel mechanisms can admit several solutions to the inverses and the direct kinematic models. These singular configurations divide the joint space and the workspace in several not connected domains. To compute this domains, the quadtree model can be made by using a discretization of the space. Unfortunately, with this method, some sin…
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；CNRS（法国国家科学研究中心）；Ecole Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；Ecole des Mines de Nantes（南特矿业学院）
The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last case, the position and the orientation of the tool are coupled and the shape of the workspace is complex. The aim of this paper is to use a simple parallel mechanism with two-degree-of-freedom (dof) for translation motions and to add one or two legs to add one or two-dofs for rotation motions. The kinematics and singular configurations are studied for each mec…
Institut de Recherche en Communications et Cybernetique de Nantes（南特通信与控制论研究所）；Ecole des Mines de Nantes（南特国立高等矿业学校）；University of Agder（阿格德大学）
The paper is devoted to the compliance errors compensation for parallel manipulators under external loading. Proposed approach is based on the non-linear stiffness modeling and reduces to a proper adjusting of a target trajectory. In contrast to previous works, in addition to compliance errors caused by machining forces, the problem of assembling errors caused by inaccuracy in the kinematic chains is considered. The advantages and practical significance of the proposed approach are illustrated by examples that deal with groove milling with Orthoglide manipulator.
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）
The paper derives the inverse and the forward kinematic equations of a serial - parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table. The parallel module consists of a moving platform that is connected to a fixed base by three non-identical legs. These legs are connected in a way that the combined effects of the three legs lead to an over-constrained mechanism with complex motion. This motion is defined as a simultaneous combination of rotation and translation. In this paper we propose sy…
Institut de Recherche en Cybernétique de Nantes (IRCyN)（南特控制论研究所）；McGill University（麦吉尔大学）
This paper focuses on the kinematic properties of a new three-degree-of-freedom hybrid manipulator. This manipulator is obtained by adding in series to a five-bar planar mechanism (similar to the one studied by Bajpai and Roth) a third revolute passing through the line of centers of the two actuated revolute joints of the above linkage. The resulting architecture is hybrid in that it has both serial and parallel links. Fully-parallel manipulators are known for the existence of particularly undesirable singularities (referred to as parallel singularities) where control is lost [4] and [6]. On t…
The subject of this paper is the optimal design of a parallel mechanism intended for three-axis machining applications. Parallel mechanisms are interesting alternative designs in this context but most of them are designed for three- or six-axis machining applications. In the last case, the position and the orientation of the tool are coupled and the shape of the workspace is complex. The aim of this paper is to use a simple parallel mechanism with two-degree-of-freedom (dof) for translational motions and to add one leg to have one-dof rotational motion. The kinematics and singular configuratio…
Institut de Recherche en Communication et Cybernétique de Nantes（南特通信与控制研究所）
This paper deals with the kinematics and dynamics of a two degree of freedom spherical manipulator, the wrist of Orthoglide 5-axis. The latter is a parallel kinematics machine composed of two manipulators: i) the Orthoglide 3-axis; a three-dof translational parallel manipulator that belongs to the family of Delta robots, and ii) the Agile eye; a two-dof parallel spherical wrist. The geometric and inertial parameters used in the model are determined by means of a CAD software. The performance of the spherical wrist is emphasized by means of several test trajectories. The effects of machining an…
Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）；Université Laval（拉瓦尔大学）；CNRS（法国国家科学研究中心）；École Centrale de Nantes（南特中央理工学院）；Université de Nantes（南特大学）；École des Mines de Nantes（南特矿业学院）
Parallel kinematic mechanisms are interesting alternative designs for machining applications. Three 2-DOF parallel mechanism architectures dedicated to machining applications are studied in this paper. The three mechanisms have two constant length struts gliding along fixed linear actuated joints with different relative orientation. The comparative study is conducted on the basis of a same prescribed Cartesian workspace for the three mechanisms. The common desired workspace properties are a rectangular shape and given kinetostatic performances. The machine size of each resulting design is used…
Institut de Recherches en Communications et Cybernétique de Nantes（南特通信与控制研究所）；École Centrale de Nantes（南特中央理工学院）；École des Mines de Nantes（南特矿业学院）；Université de Nantes（南特大学）；Université Laval（拉瓦尔大学）
This paper presents a parametric stiffness analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. First, a compliant modeling of the Orthoglide is conducted based on an existing method. Then stiffness matrix is symbolically computed. This allows one to easily study the influence of the geometric design parameters on the matrix elements. Critical links are displayed. Cutting forces are then modeled so that static displacements of the Orthoglide tool during slot milling are symbolically computed. Influence of the geometric design parameters on the static displacements is c…
Inertial Line-Of-Sight Stabilization Using a 3-DOF Spherical Parallel Manipulator with Coaxial Input Shafts
Safran Electronics & Defense（赛峰电子与防务公司）；Sorbonne Université（索邦大学）；Université de Paris Cité（巴黎西岱大学）；Inria Paris（法国国家信息与自动化研究所巴黎分部）；Nantes Université（南特大学）；École Centrale Nantes（南特中央理工学院）；CNRS（法国国家科学研究中心）
本文研究使用3-RRR Spherical Parallel Manipulator 实现惯性 Line Of Sight 稳定，通过运动学分析确保奇异轨迹远离工作空间，并基于 MATLAB Simulink 与 SimMechanics 模型实施控制策略以稳定视线。
A new type of parallel robot mechanism with an extendable structure is presented, and its kinematic properties and design parameters are analyzed. The Triple Scissor Extender (TSE) is a 6 Degree-Of-Freedom robotic mechanism for reaching high ceilings and positioning an end effector. Three scissor mechanisms are arranged in parallel, with the bottom ends coupled to linear slides, and the top vertex attached to an end effector plate. Arbitrary positions and orientations of the end effector can be achieved through the coordinated motion of the six linear actuators located at the base. By changing…
This paper describes the workspace and the inverse and direct kinematic analysis of the VERNE machine, a serial/parallel 5-axis machine tool designed by Fatronik for IRCCyN. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table. The parallel module consists of a moving platform that is connected to a fixed base by three non-identical legs. This feature involves (i) a simultaneous combination of rotation and translation for the moving platform, which is balanced by the tilting table and (ii) workspace whose shape and volume vary as a func…
École de technologie supérieure（高等技术学院）；Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制论研究所）
This paper demonstrates that any general 3-DOF three-legged planar parallel robot with extensible legs can change assembly modes without passing through parallel singularities (configurations where the mobile platform loses its stiffness). While the results are purely theoretical, this paper questions the very definition of parallel singularities.
Laboratoire des Sciences du Numérique de Nantes（南特数字科学实验室）；Dalian Huarui Heavy Industry Technical Centre（大连华锐重工技术中心）
A family of reconfigurable parallel robots can change motion modes by passing through constraint singularities by locking and releasing some passive joints of the robot. This paper is about the kinematics, the workspace and singularity analysis of a 3-PRPiR parallel robot involving lockable Pi and R (revolute) joints. Here a Pi joint may act as a 1-DOF planar parallelogram if its lock-able P (prismatic) joint is locked or a 2-DOF RR serial chain if its lockable P joint is released. The operation modes of the robot include a 3T operation modes to three 2T1R operation modes with two different di…
Universität Bremen - AG Robotik（不来梅大学 - 机器人工作组）；DFKI Bremen - Robotics Innovation Center（德国人工智能研究中心不来梅分所 - 机器人创新中心）；Johannes Kepler University, Linz（约翰内斯·开普勒大学林茨）
Based on the idea of variable stiffness mechanisms, a variety of such mechanisms is shown in this work. Specifically, 2-DOF parallel kinematic machines equipped with redundant actuators and non-linear springs in the actuated joints are presented and a comparative overview is drawn. Accordingly, a general stiffness formulation in task space of all mechanisms is given. Under fixed geometric parameters, optimization of task space stiffness is carried out on the designs comprising all kinematic solutions. Finally, a stiffness metric is introduced that allows a quantitative comparison of the given …
Belarusian State University of Informatics and Radioelectronics（白俄罗斯信息与无线电电子大学）；Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）
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 we perform a detailed workspace and singularity analysis, taking into account specific joint limit constraints.
Changzhou University（常州大学）；Nanjing Vocational Institute of Mechatronic Technology（南京机电职业技术学院）；Dalian University of Technology（大连理工大学）；Laboratoire des Sciences du Numérique de Nantes (LS2N)（南特数字科学实验室）
This paper presents a novel three-degree-of-freedom (3-DOF) translational parallel manipulator (TPM) by using a topological design method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations. The proposed PM is only composed of lower-mobility joints and actuated prismatic joints, together with the investigations on three kinematic issues of importance. The first aspect pertains to geometric modeling of the TPM in connection with its topological characteristics, such as the POC, degree of freedom and coupling degree, from which its symbolic direct kinemati…
Munich Institute of Robotics and Machine Intelligence（慕尼黑机器人与机器智能研究所）；Technische Universitat Munchen（慕尼黑工业大学）
Manipulability ellipsoids efficiently capture the human pose and reveal information about the task at hand. Their use in task-dependent robot teaching - particularly their transfer from a teacher to a learner - can advance emulation of human-like motion. Although in recent literature focus is shifted towards manipulability transfer between two robots, the adaptation to the capabilities of the other kinematic system is to date not addressed and research in transfer from human to robot is still in its infancy. This work presents a novel manipulability domain adaptation method for the transfer of…
Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN)（南特通信与控制研究所（IRCCyN））
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 a…
Institut de Recherches en Communications et Cybernetique de Nantes（南特通信与控制研究所）；Ecole des Mines de Nantes（南特矿业学院）
The paper focuses on the accuracy improvement of stiffness models for parallel manipulators, which are employed in high-speed precision machining. It is based on the integrated methodology that combines analytical and numerical techniques and deals with multidimensional lumped-parameter models of the links. The latter replace the link flexibility by localized 6-dof virtual springs describing both translational/rotational compliance and the coupling between them. There is presented detailed accuracy analysis of the stiffness identification procedures employed in the commercial CAD systems (incl…
Laboratoire des Sciences du Numérique de Nantes（南特数字科学实验室）；École Polytéchnique de Montréal（蒙特利尔理工学院）
This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse kinematics for the manipulator under study. The parallel singularities associated with the manipulator depend only on the orientation of the end-effector, and thus depend only on the orientation of the end effector. The quaternion parameters are used to represent the aspects, i.e. the singularity free regions of the workspace. A cylindrical algebraic decomposition…
Institut de Recherches en Communications et Cybernétique de Nantes（南特通信与控制研究所）；Ecole des Mines de Nantes（南特矿业学院）
The paper presents a new stiffness modeling method for overconstrained parallel manipulators with flexible links and compliant actuating joints. It is based on a multidimensional lumped-parameter model that replaces the link flexibility by localized 6-dof virtual springs that describe both translational/rotational compliance and the coupling between them. In contrast to other works, the method involves a FEA-based link stiffness evaluation and employs a new solution strategy of the kinetostatic equations for the unloaded manipulator configuration, which allows computing the stiffness matrix fo…
Rainbow Deep Q-Learning with Kinematics-Aware Design for Cooperative Delta and 3-RRS Parallel Robot Insertion
Robotics Research Center of Yuyao（余姚机器人研究中心）；Robotics Institute of Zhejiang University（浙江大学机器人院）；Yuyao Technology Innovation Center（余姚技术创新中心）；Department of Electrical and Computer Engineering, University of New Brunswick（新 Brunswick大学电气与计算机工程系）
Kinematic analysis of a parallel robot for minimally invasive surgery
CESTER, Technical University of Cluj-Napoca（克卢日-纳波卡技术大学 CESTER）；École Centrale Nantes, Nantes Université, CNRS, LS2N, UMR 6004（南特中央理工大学、南特大学、法国国家科学研究中心、LS2N实验室、UMR 6004）；Technical Sciences Academy of Romania（罗马尼亚技术科学院）
Changzhou University（常州大学）；CNRS（法国国家科学研究中心）；Dalian University of Technology（大连理工大学）
According to the topological design theory and method of parallel mechanism (PM) based on position and orientation characteristic (POC) equations, this paper studied a 3-DOF translational PM that has three advantages, i.e., (i) it consists of three fixed actuated prismatic joints, (ii) the PM has analytic solutions to the direct and inverse kinematic problems, and (iii) the PM is of partial motion decoupling property. Firstly, the main topological characteristics, such as the POC, degree of freedom and coupling degree were calculated for kinematic modeling. Thanks to these properties, the dire…
Design Analysis of an Innovative Parallel Robot for Minimally Invasive Pancreatic Surgery
Technical University of Cluj-Napoca（克卢日-纳波卡技术大学）；Technical Sciences Academy of Romania（罗马尼亚技术科学院）；École Centrale Nantes（南特中央理工学校）；Nantes Université（南特大学）；CNRS（法国国家科学研究中心）
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 work…
In this research, Artificial Neural Networks (ANNs) have been used as a powerful tool to solve the inverse kinematic equations of a parallel robot. For this purpose, we have developed the kinematic equations of a Tricept parallel kinematic mechanism with two rotational and one translational degrees of freedom (DoF). Using the analytical method, the inverse kinematic equations are solved for specific trajectory, and used as inputs for the applied ANNs. The results of both applied networks (Multi-Layer Perceptron and Redial Basis Function) satisfied the required performance in solving complex in…
Belarusian State University of Informatics and Radioelectronics（白俄罗斯国立信息与无线电电子大学）；Institut de Recherche en Communications et Cybernétique de Nantes（南特通信与控制研究所）
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.
