一种新型球面并联机器人的优化设计

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) Pub Date : 2014-09-01 DOI:10.1109/RAAD.2014.7002253

H. Saafi, M. Laribi, M. Arsicault, S. Zeghloul

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引用次数: 3

摘要

研究了一种新型球面并联机构的优化问题。通过改变经典球面并联机械臂的一条腿的运动学，得到了N_SPM。执行此更改是为了减少工作空间有用区域中奇点的存在。N_SPM的迁移率与经典的迁移率相似。首先，确定了N_SPM的非奇异工作模式，然后进行了灵巧度优化，消除了实用工作空间中的奇异性。最后，给出了最优N_SPM。

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Optimal design of a new spherical parallel manipulator

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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来源期刊

2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)

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