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Robust Design Synthesis of Spherical Parallel Manipulator for Dexterous Medical Task

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Computational Kinematics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 15))

Abstract

This paper deals with the design synthsesis of a spherical parallel manipulator (SPM) for a dexterous surgery task. A considerable effect of manufacturing errors on the workspace and particularly on the dexterity of the mechanism is noted. Thus, the use of nominal values of the design vector generated by deterministic optimization may be erroneous. The effect of these errors on the mechanism workspace and dexterity is then studied and a Robust approach combining genetic algorithms (GA) and Monte Carlo Simulation (MCS) is presented to lead to an SPM with a low-sensitive dexterity to manufacturing errors. The results are finally discussed through an example.

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Authors and Affiliations

  1. Laboratoire de Mcanique, Université de Sousse-Ecole Nationale d’Ingénieurs de Sousse, Sousse, Tunisia

    Abdelbadia Chaker, Abdelfattah Mlika & Lotfi Romdhane

  2. Institut PPRIME, UPR 3346, CNRS, Université de Poitiers—ENSMA, Poitiers, France

    Med Amine Laribi & Said Zeghloul

Authors
  1. Abdelbadia Chaker
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  2. Abdelfattah Mlika
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  3. Med Amine Laribi
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  4. Lotfi Romdhane
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  5. Said Zeghloul
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Corresponding author

Correspondence to Lotfi Romdhane .

Editor information

Editors and Affiliations

  1. Llorens Artigas, Inst Robótica e Informática Industrial, Barcelona, Spain

    Federico Thomas

  2. Mechanical Engineering, Idaho State University, Pocatello, Idaho, USA

    Alba Perez Gracia

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© 2014 Springer Science+Business Media Dordrecht

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Chaker, A., Mlika, A., Laribi, M.A., Romdhane, L., Zeghloul, S. (2014). Robust Design Synthesis of Spherical Parallel Manipulator for Dexterous Medical Task. In: Thomas, F., Perez Gracia, A. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 15. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-7214-4_31

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  • DOI: https://doi.org/10.1007/978-94-007-7214-4_31

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-7213-7

  • Online ISBN: 978-94-007-7214-4

  • eBook Packages: EngineeringEngineering (R0)

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