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Redundantly actuated 3-RRR spherical parallel manipulator used as a haptic device: improving dexterity and eliminating singularity

Published online by Cambridge University Press:  09 July 2014

Houssem Saafi ,
Med Amine Laribi  and
Said Zeghloul
Houssem Saafi
Affiliation:
Department of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, France E-mail: houssem.saafi@univ-poitiers.fr, said.zeghloul@univ-poitiers.fr
Med Amine Laribi*
Affiliation:
Department of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, France E-mail: houssem.saafi@univ-poitiers.fr, said.zeghloul@univ-poitiers.fr
Said Zeghloul
Affiliation:
Department of GMSC, Pprime Institute CNRS, ENSMA, University of Poitiers, UPR 3346, France E-mail: houssem.saafi@univ-poitiers.fr, said.zeghloul@univ-poitiers.fr
*
*Corresponding author. E-mail: med.amine.laribi@univ-poitiers.fr
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Summary

This paper discusses the study of a spherical parallel manipulator (SPM) used as a haptic device for tele-operation applications. The SPM presents poor behavior in singular configurations. Redundancy is used to eliminate the parallel singularity without major changes in the mechanical structure. Comparisons in terms of kinematic and dynamic behavior between the non-redundant and redundant SPM are presented. The results prove the advantage of introducing redundancy in the actuator and sensor to improve the behavior of the SPM. A new control strategy for the redundant SPM is also proposed. The control strategy has been successfully tested and validated on a SimMechanics model.

Keywords

RedundancySingularityHaptic deviceDexteritySpherical parallel manipulator
Type
Articles
Information
Robotica , Volume 33 , Special Issue 5: Robotics in the Alpe-Adria-Danube Region (RAAD 2013) , June 2015 , pp. 1113 - 1130
Copyright
Copyright © Cambridge University Press 2014 

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