Analysis Study of Working Modes Within a Redundant Architecture for a Spherical Parallel Manipulator (SPM)

被引：0

作者：

Enbaya, Jasser ^{[1
]}

Sandoval, Juan ^{[3
]}

Ghiss, Moncef ^{[1
]}

Tourki, Zoubeir ^{[1
]}

Arsicault, Marc ^{[2
]}

Zeghloul, Said ^{[2
]}

Laribi, Med Amine ^{[2
]}

机构：

[1] Univ Sousse, Natl Engn Sch Sousse, Mech Lab Sousse LMS, Sousse 4000, Tunisia

[2] Univ Poitiers, Pprime Inst CNRS, Dept GMSC, ENSMA,UPR 3346, Poitiers, France

[3] Nantes Univ, LS2N, CNRS, Ecole Cent Nantes,UMR 6004, F-44000 Nantes, France

来源：

ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS, RAAD 2024 | 2024年 / 157卷

关键词：

Haptic interface; Redundancy; Dexterity; Working modes; Torque control; Optimal torque distribution; Spherical parallel manipulator; Teleoperation; MECHANISMS;

D O I：

10.1007/978-3-031-59257-7_22

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this study, we focus on a 3DOF (RRR) spherical parallel manipulator (SPM) employed as haptic interface (HI) for teleoperation application. We started by presenting the kinematic model of the interface, its different working modes and identifying singularity zones within the operational workspace (WS). As a solution, a redundant architecture is proposed where we used a fourth motor to enhance the dexterity of the device. Subsequently, our study takes a closer look at the comparative analysis of working modes in the purpose of selecting the optimal starting configuration for our interface. This selection ensures an optimized torque distribution across various WS configurations where we respect the limit of torques for every motor in order to stay in a safe zone of control.

引用

页码：209 / 219

页数：11

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