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Comparative Kinematic Analysis and Design Optimization of Redundant and Nonredundant Planar Parallel Manipulators Intended for Haptic Use

Published online by Cambridge University Press:  05 November 2019

Houssem SaafiOpen the ORCID record for Houssem Saafi[Opens in a new window] and
Houssein LamineOpen the ORCID record for Houssein Lamine[Opens in a new window]
Houssem Saafi*
Affiliation:
Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, Tunisia E-mail: houssein.lamine@gmail.coPreparatory Institute for Engineering Studies of Gafsa, University of Gafsa, Gafsa 2000, Tunisia
Houssein Lamine
Affiliation:
Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, Sousse 4000, Tunisia E-mail: houssein.lamine@gmail.co
*
*Corresponding author. E-mail: houssem.saafi@gmail.com
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Summary

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This paper investigates a comparative kinematic analysis between nonredundant and redundant 2-Degree Of Freedom parallel manipulators. The nonredundant manipulator is based on the Five-Bar mechanism, and the redundant one is a 3-RRR planar parallel manipulator. This study is aimed to select the best structure for a haptic application. This latter requires a mechanism with a desired workspace of 10 cm × 10 cm and an admissible force of 5 N in all directions. The analysis criteria are the accuracy of the forward kinematic model and the required actuator torques. Thereby, the geometric parameters of the two structures are optimized in order to satisfy the required workspace such that parallel singularities are overcome. The analysis showed that the nonredundant optimally designed manipulator is more suitable for the haptic application.

Keywords

Parallel robotSingularityOptimizationRedundancyForward kinematic modelHaptic

Information

Type
Articles
Information
Robotica , Volume 38 , Issue 8 , August 2020, pp. 1463 - 1477
Copyright
© Cambridge University Press 2019

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