Optimal design of a new Spherical Parallel Manipulator

被引：0

作者：

Saafi, Houssem ^{[1
]}

Laribi, Med Amine ^{[1
]}

Arsicault, Marc ^{[1
]}

Zeghloul, Said ^{[1
]}

机构：

[1] Univ Poitiers, Dept GMSC, Pprime Inst, CNRS,ENSMA,UPR 3346, Poitiers, France

来源：

2014 23RD INTERNATIONAL CONFERENCE ON ROBOTICS IN ALPE-ADRIA-DANUBE REGION (RAAD) | 2014年

关键词：

Spherical Parallel Manipulator; Optimization; Workspace; Dexterity; Genetic Algorithm;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

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.

引用

页数：6

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