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Analysis and Optimization of a New Family of Parallel Manipulators with Decoupled Motions

Abstract : It is well known that, amongst the numerous advantages of parallel manipulators when compared with their serial counterparts, one can notice better velocities and dynamic characteristics, as well as higher payload capacities. However, there are some drawbacks, such as a smaller workspace, a high coupling in the kinematic relationships and more constraining singularities. In order to overcome these disadvantages, the decoupling of the movements of parallel robots has been proposed. Thus, the research project deals with the design, the optimization and the improvement of a new family of parallel manipulators from 3 to 6 degrees of freedom named PAMINSA (PArallel Manipulator of the I.N.S.A.). The second part of this manuscript presents the characteristics of these architectures, namely the decoupling between the movements of the platform in the horizontal plane from its translations along the vertical axis. In a third section, we analyse the singular configurations of these manipulators. This analysis is necessary in order to choose the manipulator which has the largest singularity-free workspace. In sections 4 and 5, we propose novel methods allowing an increase in the size of their singularity-free workspace. The first solution is based on the use of mechanisms with variable structures, i.e. mechanisms of which structural parameters can be altered. Such a solution makes it possible to increase the singularity-free workspace to 100% of the maximal workspace. The second solution deals with the optimization of the dynamic parameters of the manipulators, which makes it possible to pass through the singularities during the displacements of the manipulator. Finally, in a sixth section, a new, fast and efficient method of computing the accuracy of PAMINSA manipulators is described. In addition, solutions for the improvement of functional characteristics of PAMINSA manipulators are proposed.
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https://tel.archives-ouvertes.fr/tel-00327414
Contributor : Sébastien Briot <>
Submitted on : Wednesday, October 8, 2008 - 2:23:07 PM
Last modification on : Monday, October 19, 2020 - 11:08:43 AM
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  • HAL Id : tel-00327414, version 1

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Sébastien Briot. Analysis and Optimization of a New Family of Parallel Manipulators with Decoupled Motions. Automatic. INSA de Rennes, 2007. English. ⟨tel-00327414⟩

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