Singularity-free Design of the Translational Parallel Manipulator IRSBot-2

Coralie Germain (1) , Stéphane Caro (1) , Sébastien Briot (1) , Philippe Wenger (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

The IRSBot-2 is a two degree-of-freedom translational parallel manipulator dedicated to fast and accurate pick-and-place operations. This paper deals with the determination of the design parameters of the manipulator for the IRSBot-2 to be free of parallel singularity. First, the robot architecture is introduced. The IRSBot-2 is composed of two identical spatial limbs, each one containing a proximal module and a distal module. Then, its actuation singularities and constraint singularities are analyzed. The latter are analyzed in its distal parameter space with a method based on the notion of Discriminant Varieties and Cylindrical Algebraic Decomposition. Moreover, a deep analysis is carried out in order to determine the set of design parameters of the distal modules that prevents the IRSBot-2 from reaching any constraint singularity. To the best of our knowledge, such an analysis is performed for the first time. Finally, a design methodology is proposed to determine the set of design parameters associated with the proximal modules for the IRSBot-2 to be assembled and free of parallel singularity.

Mots clés: Parallel Manipulator; Constraint Singularity; Actuation Singularity; Cylindrical Algebraic Decomposition; Design

Domaines: Automatique / Robotique; Electronique; Sciences de l'ingénieur [physics]

Coralie Germain, Stéphane Caro, Sébastien Briot, Philippe Wenger. Singularity-free Design of the Translational Parallel Manipulator IRSBot-2. Mechanism and Machine Theory, 2013, 64, pp.262-285. ⟨10.1016/j.mechmachtheory.2013.02.005⟩. ⟨hal-00832557⟩