Analyse et conception d'un manipulateur hybride spatial a cinq degres de liberte pour des applications sous-marines

Abstract

Ce memoire presente l'analyse et la conception d'un manipulateur hybride spatial a cinq degres de liberte a etre installe sur un sous-marin. Le principal interet de ce nouveau design est de fournir une alternative au manipulsteur seriel a six degres de liberte qui est presentement utilise, et ce, a moindre cout. L'architecture a ete choisie parmi plusieurs architectures hybrides en utilisant la simplicite et la rigidite comme principaux criteres de selection. Les problemes geometriques inverse et direct sont d'abord developpes pour une forme generale de l'architecture hybride choisie. Les parametres architecturaux sont alors optimises afin d'obtenir l'espace atteignable optimal. Par la suite, les equations de vitesse, les metrices jacobiennes, les equations d'acceleration ainsi que les lieux de singularite sont determines. Finalement, des exemples d'architectures hybrides sont presentes ainsi que les espaces de travail exempts de singularites qui leur sont associes.

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This thesis presents the analysis and design of a hybrid spatial manipulator with five degrees of freedom to be installed on a submarine. The main interest of this new design is to provide an alternative to the six degrees of freedom serial manipulator which is currently used, and at lower cost. The architecture was chosen from several hybrid architectures using simplicity and rigidity as the main selection criteria. The inverse and direct geometric problems are first developed for a general form of the chosen hybrid architecture. The architectural parameters are then optimized in order to obtain the optimal achievable space. Subsequently, the velocity equations, the Jacobian metrics, the acceleration equations as well as the singularity loci are determined. Finally, examples of hybrid architectures are presented as well as the workspaces free of singularities associated with them.