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3-RRR Spherical Parallel Robot Optimization with Minimum of Singularities

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Computational Kinematics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 50))

Abstract

This paper deals with the optimization of the 3-RRR Spherical parallel Manipulator SPM. In addition to workspace constraints and dexterity performance; singilarity positions and distribution appeared to have considerable effects when treating control issues. Thus, this additional parameter is integrated in a Genetic Algorithm (GA) Based synthesis process. A multi objective problem is then formulated and results were analysed. The effect of self rotation \( \varvec{\varphi } \) was also explored throught three differentsvalues. Results were finally discussed.

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References

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Author information

Authors and Affiliations

  1. Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, 4000, Sousse, Tunisia

    Asma Jelassi, Abdelbadia Chaker & Abdelfattah Mlika

Authors
  1. Asma Jelassi
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  2. Abdelbadia Chaker
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  3. Abdelfattah Mlika
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Corresponding author

Correspondence to Abdelbadia Chaker .

Editor information

Editors and Affiliations

  1. Institut PPRIME, UPR 3346, University of Poitiers, Poitiers, France

    Saïd Zeghloul

  2. American University of Sharjah, UAE, on leave from the National School of Engineering of Sousse , Sousse Erriadh, Tunisia

    Lotfi Romdhane

  3. SP2MI, Téléport 2, University of Poitiers, Poitiers, France

    Med Amine Laribi

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Jelassi, A., Chaker, A., Mlika, A. (2018). 3-RRR Spherical Parallel Robot Optimization with Minimum of Singularities. In: Zeghloul, S., Romdhane, L., Laribi, M. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 50. Springer, Cham. https://doi.org/10.1007/978-3-319-60867-9_34

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  • DOI: https://doi.org/10.1007/978-3-319-60867-9_34

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-60866-2

  • Online ISBN: 978-3-319-60867-9

  • eBook Packages: EngineeringEngineering (R0)

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