Improvement of Functional Performance of Spatial Parallel Manipulators Using Mechanisms of Variable Structure

Vigen Arakelian (1) , Sébastien Briot (2) , Victor Glazunov

1 DGMA - Département de Génie Mécanique et Automatique
2 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

A procedure for the increase of singularity-free zones in the workspace of spatial parallel manipulators is presented in this paper. The procedure is based on the control of the pressure angles in the joints of the manipulator. The zones, which cannot be reached by the manipulator, are detected. For increase of the reachable workspace of the manipulator the legs of variable structure are proposed. The design of the optimal structure of the spatial parallel manipulator 3-RPS is illustrated by a numerical simulation.

Mots clés: Parallel manipulator; optimal control; singularity-free zones; pressure angle; force transmission

Domaines: Génie mécanique [physics.class-ph]; Génie mécanique [physics.class-ph]

Vigen Arakelian, Sébastien Briot, Victor Glazunov. Improvement of Functional Performance of Spatial Parallel Manipulators Using Mechanisms of Variable Structure. 12th IFToMM World Congress, Jun 2007, Besançon, France. ⟨hal-00451934⟩