9 papers
Stiffness Analysis Of Multi-Chain Parallel Robotic Systems
Anatoly Pashkevich, Damien Chablat, Philippe Wenger
The paper presents a new stiffness modelling method for multi-chain parallel robotic manipulators with flexible links and compliant actuating joints. In contrast to other works, th…
Stiffness Analysis of 3-d.o.f. Overconstrained Translational Parallel Manipulators
Anatoly Pashkevich, Damien Chablat, Philippe Wenger
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensio…
Kinematic calibration of orthoglide-type mechanisms
Anatoly Pashkevich, Damien Chablat, Philippe Wenger
The paper proposes a novel calibration approach for the Orthoglide-type mechanisms based on observations of the manipulator leg parallelism during mo-tions between the prespecified…
Design Strategies for the Geometric Synthesis of Orthoglide-type Mechanisms
Anatoly Pashkevich, Philippe Wenger, Damien Chablat
The paper addresses the geometric synthesis of Orthoglide-type mechanism, a family of 3-DOF parallel manipulators for rapid machining applications, which combine advantages of both…
Kinematics and Workspace Analysis of a Three-Axis Parallel Manipulator: the Orthoglide
Anatoly Pashkevich, Damien Chablat, Philippe Wenger
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 ortho…
Kinematic and stiffness analysis of the Orthoglide, a PKM with simple, regular workspace and homogeneous performances
Anatoly Pashkevich, Philippe Wenger, Damien Chablat
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-axi…