Robust Design Synthesis of Spherical Parallel Manipulator for Dexterous Medical Task

  • Abdelbadia Chaker
  • Abdelfattah Mlika
  • Med Amine Laribi
  • Lotfi RomdhaneEmail author
  • Said Zeghloul
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


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.


Spherical parallel mechanism Robust design synthesis Dexterous task Manufacturing errors Dexterity Monte Carlo simulation 


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  • Abdelbadia Chaker
    • 1
  • Abdelfattah Mlika
    • 1
  • Med Amine Laribi
    • 2
  • Lotfi Romdhane
    • 1
    Email author
  • Said Zeghloul
    • 2
  1. 1.Laboratoire de McaniqueUniversité de Sousse-Ecole Nationale d’Ingénieurs de SousseSousseTunisia
  2. 2.Institut PPRIME, UPR 3346CNRS, Université de Poitiers—ENSMAPoitiersFrance

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