Analysis Study of Working Modes Within a Redundant Architecture for a Spherical Parallel Manipulator (SPM)
摘要
In this study, we focus on a 3DOF (RRR) spherical parallel manipulator (SPM) employed as haptic interface (HI) for teleoperation application. We started by presenting the kinematic model of the interface, its different working modes and identifying singularity zones within the operational workspace (WS). As a solution, a redundant architecture is proposed where we used a fourth motor to enhance the dexterity of the device. Subsequently, our study takes a closer look at the comparative analysis of working modes in the purpose of selecting the optimal starting configuration for our interface. This selection ensures an optimized torque distribution across various WS configurations where we respect the limit of torques for every motor in order to stay in a safe zone of control.