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Abstract
Ce memoire presente une breve etude des manipulateurs hybrides plans et spatiaux. Cette etude regroupe l'analyse des problemes geometriques directs et inverses ainsi que l'analyse de l'espace de travail a orientation constante. Pour chacun de ces problemes geometriques, les equations ainsi que le nombre de solutions et modes d'assemblage sont presentes. La presentation de ces resultats est faite sous forme d'exemples. Pour ce qui est de l'espace de travail, deux methodes sont presentees. Une des methodes utilise un agorithme qui effectue un tri grossier des points discretises pour par la suite, les passer a une methode standard. L'autre methode d'obtention de l'espace de travail donne l'enveloppe de cet espace a partir d'equations analytiques obtenues lorsque le manipulateur possede une articulation a une limite.
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This thesis presents a brief study of planar and spatial hybrid manipulators. This study gathers the analysis of the direct and inverse geometrical problems as well as the analysis of the workspace with constant orientation. For each of these geometric problems, the equations as well as the number of solutions and assembly modes are presented. The presentation of these results is made in the form of examples. As far as the workspace is concerned, two methods are presented. One of the methods uses an algorithm which carries out a coarse sorting of the discrete points for thereafter, passing them to a standard method. The other method of obtaining the working space gives the envelope of this space from analytical equations obtained when the manipulator has a joint at a limit.
