Domaines d'unicité et parcourabilité pour les manipulateurs pleinement parallèles

Abstract

The topic of the work, presented in this thesis, is the geometric and kinematic analysis of fully parallel manipulators. The main goals are the characterization of uniqueness domains and the analysis of the moveability in the workspace. This dissertation is divided in five sections. The first section is dedicated to a state of the art in the fully parallel manipulators and more precisely in the calculation of their workspace and their singular configurations. The second and the third sections are dedicated to the characterization of aspects for fully parallel manipulators with respectively one and several solutions to the inverse kinematic problem. Thus, we define the maximal domains of the workspace without singular configurations. Then, we define the uniqueness domains, i.e. the domains where the kinematics operator is a bijection between the workspace and the joint space. Indeed, in one aspect, it is possible to change assembly mode without meeting a singularity. The fourth section deals with the problems of the internal and external collisions. The definition of the aspects is extended to free aspects to take into account these collisions. The fifth section develops the moveability analysis in the workspace which defines the ability to perform point-to-point motions and continuous trajectory. This work can be used in CAD-robotics software to improve the utilization of parallel manipulators. Indeed, the determination of uniqueness domains and the analysis of the moveability in the workspace are a useful help for planning trajectory, as well as for the design and placement of parallel manipulators.