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.
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页数：6
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