La synthese de mecanismes paralleles plans en considerant l'espace atteignable, la dexterite, la raideur et l'evitement des singularites (French text).

摘要

It is a generally well-known fact in the robotics industry that the design of parallel mechanisms while considering both task specifications and performance is quite difficult. The object of this research is thus to develop a reliable synthesis method capable of optimally selecting the geometrical parameters of this type of mechanism. Furthermore, a special attention is given to the ease of use of the proposed method.; In this work, three different architectures of parallel mechanisms are considered. The first is a two-degree-of-freedom mechanism with prismatic joints (2-RPR). The second is a three-degree-of-freedom mechanism with prismatic joints (3-RPR) while the third is a three-degree-of-freedom mechanism with revolute joints (3-RRR). The performances of these mechanisms are optimized using a genetic algorithm. Additionally, visual user interfaces are developed to allow the designer to easily modify the synthesis parameters.; The performance of each mechanism is evaluated according to four different criteria: workspace, singular configurations, dexterity and stiffness. (Abstract shortened by UMI.)