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This paper focuses on developing the haptic model of a redundant spherical parallel manipulator (R_SPM) and comparing it with the classical SPM. First, the kinematic of the R_SPM is introduced, highlighting its structural advantages over the classical SPM. then, the forward kinematic model is formulated using the input-output equation and compared to the classical SPM using the same resolution method. Finally, the haptic model is examined, and the active joint torques for both manipulators are calculated and compared to assess their performance.

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Haptic Model of a Redundant Spherical Parallel Manipulator with Unlimited Self-rotation

  • 会议论文

  • 发表日期：

    2025年

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  • Chaima Lahdiri,
  • Houssem Saafi,
  • Abdelfattah Mlika,
  • Med Amine Laribi

摘要

This paper focuses on developing the haptic model of a redundant spherical parallel manipulator (R_SPM) and comparing it with the classical SPM. First, the kinematic of the R_SPM is introduced, highlighting its structural advantages over the classical SPM. then, the forward kinematic model is formulated using the input-output equation and compared to the classical SPM using the same resolution method. Finally, the haptic model is examined, and the active joint torques for both manipulators are calculated and compared to assess their performance.