Skip to Main content Skip to Navigation

Analyse et classification de manipulateurs 3R à axes orthogonaux

Abstract : The work presented in this thesis deals with the classification and analysis of 3-revolute (3R) orthogonal positioning manipulators. The goal is to establish an exhaustive classification based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusp and node points that appear on these singular curves. This dissertation is devised into four sections. The first section is dedicated to a state of the art on serial positioning manipulators and more precisely on their kinematic properties and their singular curves. In the second section, an exhaustive classification of one family of 3R manipulators such that r3 = 0 is proposed. The design parameter space is divided into nine workspace topologies. All kinematic properties are given for each workspace topology. A new necessary and sufficient condition for a manipulator to be cuspidal (can change posture without meeting singularity) is established as function as the DHm parameters. The third section deals with the classification of a larger family of manipulators (r3 <> 0). Last section is dedicated to the analysis of these manipulators according to two performance criteria. The first one is relative to the maximum and average condition numbers. The second one is relative to the proportions of regions of two and four inverse kinematic solutions, the domain reachable by the end effector compared to a sphere centred on the origin and including the workspace. Results presented in this thesis can be used as an efficient help for the design of new manipulators. In effect, for a particular task, the designer can choose the most suitable workspace topology. Then, manipulator DHm parameters are set according to the performance criteria studied.
Complete list of metadata
Contributor : Maher Baili <>
Submitted on : Sunday, February 26, 2006 - 12:39:05 AM
Last modification on : Wednesday, December 19, 2018 - 3:02:04 PM
Long-term archiving on: : Saturday, April 3, 2010 - 8:48:07 PM


  • HAL Id : tel-00011685, version 1



Maher Baili. Analyse et classification de manipulateurs 3R à axes orthogonaux. Mécanique []. Ecole Centrale de Nantes (ECN); Université de Nantes, 2004. Français. ⟨tel-00011685⟩



Record views


Files downloads