DocumentCode
1788727
Title
Optimal design of a new spherical parallel manipulator
Author
Saafi, Houssem ; Laribi, Med Amine ; Arsicault, Marc ; Zeghloul, Said
Author_Institution
Dept. of GMSC, Univ. of Poitiers, Poitiers, France
fYear
2014
fDate
3-5 Sept. 2014
Firstpage
1
Lastpage
6
Abstract
This paper deals with the optimization of a New Spherical Parallel Manipulator (N_SPM). The N_SPM is obtained by changing the kinematic of one leg of a classic spherical parallel manipulator. This change is carried out to reduce the presence of the singularity in the useful area of the workspace. The mobility of the N_SPM is similar to the classic one. First, the less-singular working mode of the N_SPM was identified then an optimization of the dexterity is made to eliminate the singularity from the useful workspace. Finally, the optimal N_SPM is presented.
Keywords
manipulator kinematics; optimal control; optimisation; N_SPM; manipulator kinematics; new spherical parallel manipulator; optimal design; Equations; Jacobian matrices; Joints; Kinematics; Manipulators; Mathematical model; Optimization; Dexterity; Genetic Algorithm; Optimization; Spherical Parallel Manipulator; Workspace;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics in Alpe-Adria-Danube Region (RAAD), 2014 23rd International Conference on
Conference_Location
Smolenice
Print_ISBN
978-1-4799-6797-1
Type
conf
DOI
10.1109/RAAD.2014.7002253
Filename
7002253
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