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Abstract
Les efforts que doivent fournir les actionneurs d'un manipulateur lors de son mouvement sont, lorsque les accelerations ne sont pas trop grandes, souvent generes en grande partie par le poids du manipulateur. Equilibrer statiquement un manipulateur consiste a eliminer l'effet de la gravite sur les forces (ou couples) a ses actionneurs, et ce, peu importe sa configuration. Ce memoire discute des conditions permettant d'equilibrer statiquement des manipulateurs paralleles plans a un, deux et trois degres de liberte avec et sans ressorts. Les conditions d'equilibrage trouvees sont interpretees a l'aide de criteres tels que la dimension des lieux des manipulateurs equilibrage et la severite statiquement sont egalement traces afin d'offrir une meilleure visualisation des resultats.
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The efforts that the actuators of a manipulator must provide during its movement are, when the accelerations are not too great, often generated largely by the weight of the manipulator. Statically balancing a manipulator consists of eliminating the effect of gravity on the forces (or torques) at its actuators, regardless of its configuration. This dissertation discusses the conditions for statically equilibrating plane parallel manipulators with one, two and three degrees of freedom with and without springs. The balancing conditions found are interpreted using criteria such as the dimension of the locations of the balancing manipulators and the severity statically are also traced in order to offer a better visualization of the results.
