Joint space and workspace analysis of a 2-DOF Spherical Parallel Mechanism

Guillaume Michel (1) , Philippe Bordure (1) , Ranjan Jha (2) , Swaminath Venkateswaran (3, 4, 5) , Damien Chablat (3, 4, 6)

1 CHU Nantes - Centre Hospitalier Universitaire de Nantes
2 CSIR - Central Scientific Instruments Organisation
3 LS2N - Laboratoire des Sciences du Numérique de Nantes
4 LS2N - équipe ReV - Robotique Et Vivant
5 ECN - École Centrale de Nantes
6 CNRS - Centre National de la Recherche Scientifique

This paper deals with the joint space and workspace analysis of a two degree of freedom spherical parallel mechanism designed to be used to handle an endoscope. This mechanism is composed of the three legs (2USP-U) to connect the base to a moving platform. As the manipulator can get up to six solutions to the direct kinematic problem (DKP) in four aspects, non-singular assembly modes changing trajectories may exist. The aim of the paper is to check whether a regular workspace centred on home pose can be defined in such a way that no such trajectory exists in this workspace.

Mots clés: Spherical parallel robot; singularity; cusp point; aspect

Domaines: Géométrie algébrique [math.AG]; Automatique / Robotique

Guillaume Michel, Philippe Bordure, Ranjan Jha, Swaminath Venkateswaran, Damien Chablat. Joint space and workspace analysis of a 2-DOF Spherical Parallel Mechanism. New Trends in Mechanism and Machine Science, 2020, ⟨10.1007/978-3-030-55061-5_21⟩. ⟨hal-02568293⟩