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IFToMM International Symposium on Robotics and Mechatronics

ISRM 2019: Robotics and Mechatronics pp 423–431Cite as

Real-Time Resolution of the Forward Kinematic Model for a New Spherical Parallel Manipulator

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Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 78))

Abstract

This paper discusses the comparison between three methods used to solve the Forward Kinematic Model (FKM) of a New Spherical Parallel Manipulator (New SPM). The three methods are: a classical method (Classical FKM) using three sensors installed in the base, an improved method (Improved FKM) using an extra sensor installed on the moving platform and a serial method (Serial FKM) using three sensors installed on one leg of the parallel manipulator. Both the accuracy and the calculation time are compared. The serial approach was chosen, thanks to its simplicity and the fast calculation time, despite the small error compared to the other methods.

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Author information

Authors and Affiliations

  1. Mechanical Laboratory of Sousse (LMS), National Engineering School of Sousse, University of Sousse, 4000, Sousse, Tunisia

    Houssem Saafi

  2. Preparatory Institute for Engineering Studies of Gafsa, University of Gafsa, 2000, Gafsa, Tunisia

    Houssem Saafi

  3. Department of GMSC, Pprime Institute, CNRS - University of Poitiers, ENSMA - UPR 3346, Poitiers, France

    Med Amine Laribi & Said Zeghloul

Authors
  1. Houssem Saafi
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  2. Med Amine Laribi
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  3. Said Zeghloul
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Corresponding author

Correspondence to Med Amine Laribi .

Editor information

Editors and Affiliations

  1. School of Mechanical, Materials, Mechatronic and Biomedical Engineering, University of Wollongong, Wollongong, NSW, Australia

    Chin-Hsing Kuo

  2. Department of Mechanical Engineering, National Taiwan University, Taipei, Taiwan

    Pei-Chun Lin

  3. Department of Mechanical Engineering, National Central University, Taoyuan City, Taiwan

    Terence Essomba

  4. Department of Mechanical and Electro-Mechanical Engineering, Tamkang University, New Taipei City, Taiwan

    Guan-Chen Chen

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Saafi, H., Laribi, M.A., Zeghloul, S. (2020). Real-Time Resolution of the Forward Kinematic Model for a New Spherical Parallel Manipulator. In: Kuo, CH., Lin, PC., Essomba, T., Chen, GC. (eds) Robotics and Mechatronics. ISRM 2019. Mechanisms and Machine Science, vol 78. Springer, Cham. https://doi.org/10.1007/978-3-030-30036-4_38

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