Real-Time Resolution of the Forward Kinematic Model for a New Spherical Parallel Manipulator

Houssem Saafi (1) , Med Amine Laribi (2) , Said Zeghloul (2)

1 LMS - Mechanical Laboratory of Sousse
2 COBRA - Cobotique, Bio-ing Robotique pour l'Assistance [Institut Pprime]

This paper discusses the comparison between three methods used to solve the Forward Kinematic Model (FKM) of a New Spherical Parallel Manipulator (New SPM). The three methods are: a classical method (Classical FKM) using three sensors installed in the base, an improved method (Improved FKM) using an extra sensor installed on the moving platform and a serial method (Serial FKM) using three sensors installed on one leg of the parallel manipulator. Both the accuracy and the calculation time are compared. The serial approach was chosen, thanks to its simplicity and the fast calculation time, despite the small error compared to the other methods.

Mots clés: Spherical Parallel Manipulator; Forward Kinematic Model; Minimally Invasive Surgery

Domaines: Mécanique des fluides [physics.class-ph]; Matériaux et structures en mécanique [physics.class-ph]; Acoustique [physics.class-ph]; Automatique / Robotique; Electromagnétisme; Milieux fluides et réactifs; Energie électrique; Thermique [physics.class-ph]; Vibrations [physics.class-ph]; Physique mathématique [math-ph]; Physique Quantique [quant-ph]; Acoustique [physics.class-ph]; Biomécanique [physics.med-ph]; Matériaux; Polymères

Houssem Saafi, Med Amine Laribi, Said Zeghloul. Real-Time Resolution of the Forward Kinematic Model for a New Spherical Parallel Manipulator. Robotics and Mechatronics, pp.423-431, 2020, ⟨10.1007/978-3-030-30036-4_38⟩. ⟨hal-02321704⟩