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On the Kinematics of Spherical Parallel Manipulators for Real Time Applications

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Design and Modeling of Mechanical Systems

Part of the book series: Lecture Notes in Mechanical Engineering ((LNME))

Abstract

This paper deals with the computation of the forward and inverse kinematic model of a 3-RRR spherical parallel mechanism (SPM) for a teleoperation solution. The context of real time application is aimed; thus, the determination of the desired solution out of several possibilities, is crucial to guarantee motion continuity. The SPM structure kinematics is then detailed and a strategy, based on Newton Raphson method, is proposed to solve these models. Experimental results are presented to validate the proposed approach.

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Author information

Authors and Affiliations

  1. Laboratoire de Mcanique, Universitè de Sousse- Ecole Nationale d’Ingnieurs de Sousse, BP 264, Sousse-Erriadh, Tunisia

    Abdelbadia Chaker, Abdelfattah Mlika & Lotfi Romdhane

  2. Institut PPRIME, UPR 3346, CNRS, Université de Poitiers - ENSMA, Bd Pierre et Marie Curie, Futuroscope, BP 30179, 86962, Chasseneuil, France

    Med Amine Laribi & Said Zeghloul

Authors
  1. Abdelbadia Chaker
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  2. Abdelfattah Mlika
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  3. Med Amine Laribi
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  4. Lotfi Romdhane
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  5. Said Zeghloul
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Corresponding author

Correspondence to Abdelbadia Chaker .

Editor information

Editors and Affiliations

  1. National School of Engineers of Sfax, Route de Soukra km 3.5, Sfax, 3038, Tunisia

    Mohamed Haddar

  2. National School of Engineers of Sousse, BP. 264, Sousse Erriadh, 4023, Tunisia

    Lotfi Romdhane

  3. National School of Engineers of Sfax, Route de Soukra km 3.5, BP. 1173, Sfax, 3038, Tunisia

    Jamel Louati

  4. National School of Engineers of Monastir, Avenue Ibn El Jazzar, Monastir, 5019, Tunisia

    Abdelmajid Ben Amara

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Chaker, A., Mlika, A., Laribi, M.A., Romdhane, L., Zeghloul, S. (2013). On the Kinematics of Spherical Parallel Manipulators for Real Time Applications. In: Haddar, M., Romdhane, L., Louati, J., Ben Amara, A. (eds) Design and Modeling of Mechanical Systems. Lecture Notes in Mechanical Engineering. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-37143-1_7

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  • DOI: https://doi.org/10.1007/978-3-642-37143-1_7

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-37142-4

  • Online ISBN: 978-3-642-37143-1

  • eBook Packages: EngineeringEngineering (R0)

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