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Optimal design of aredundant spherical parallel manipulator

Published online by Cambridge University Press:  01 July 1997

Sylvie Leguay-Durand  and
Claude Reboulet
Sylvie Leguay-Durand
Affiliation:
ONERA-CERT-SUPAERO Département d'automatique, 2 avenue Edouard Belin, BP 4025-31055 Toulouse cedex 4, France. E-mail: leguay@cert.fr – reboulet@cert.fr
Claude Reboulet
Affiliation:
ONERA-CERT-SUPAERO Département d'automatique, 2 avenue Edouard Belin, BP 4025-31055 Toulouse cedex 4, France. E-mail: leguay@cert.fr – reboulet@cert.fr
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Abstract

A new kinematic design of a parallel spherical wrist with actuatorredundancy is presented. A special feature of this parallel manipulator is thearrangement of co-axial actuators which allows unlimited rotation about any axisinside a cone-shaped workspace. A detailed kinematic analysis has shown thatactuator redundancy not only removes singularities but also increases workspacewhile improving dexterity. The structure optimization has been performed with aglobal dexterity criterion. Using a conditioning measure, a comparison with anon-redundant structure of the same type was performed and shows that asignificant improvement in dexterity has been obtained.

Keywords

Parallel manipulatorSpherical wristActuatorredundancy
Type
Research Article
Information
Robotica , Volume 15 , Issue 4 , July 1997 , pp. 399 - 405
Copyright
© 1997 Cambridge University Press

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