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This paper deals with the optimization of a redundant spherical parallel manipulator (RSPM). The manipulator consists of two spherical five-bar mechanisms connected through a common end-effector, providing three degrees of freedom and offering unlimited self-rotation capability. To enhance its performance, the geometric parameters are optimized using a hybrid DE–Jaya method. The objective of this optimization is to reduce the geometric parameters while improving the manipulator’s dexterity.

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Design Optimization of Redundant Spherical Parallel Manipulator with an Unlimited Self-Rotation

  • 会议论文

  • 发表日期：

    2026年

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  • Chaima Lahdiri,
  • Houssem Saafi,
  • Abdelfattah Mlika

摘要

This paper deals with the optimization of a redundant spherical parallel manipulator (RSPM). The manipulator consists of two spherical five-bar mechanisms connected through a common end-effector, providing three degrees of freedom and offering unlimited self-rotation capability. To enhance its performance, the geometric parameters are optimized using a hybrid DE–Jaya method. The objective of this optimization is to reduce the geometric parameters while improving the manipulator’s dexterity.