Analyse et conception d'un manipulateur parallele spherique a deux degres de liberte pour l'orientation d'une camera

Abstract

Ce memoire consigne les travaux relies au projet d'analyse et de conception de mecanismes spheriques paralleles a deux degres de liberte. On etudie d'abord la cinematique du mecanisme, c'est-a-dire la generation des equations permettant de solutionner les problemes geometriques direct et inverse, la determination des equations de vitesse menant a la matrice jacobienne, la cinematique des membrures et enfin l'analyse du comportement du manipulateur: ses lieux de singularites, sa dexterite ainsi que son espace atteignable. Vient ensuite l'etude dynamique du manipulateur a l'aide de deux methodes, l'approche newtonienne et l'approche energetique. Les equations dynamiques sont remaniees et simplifees pour le transfert dans un controleur. Certaines equations sont alors implantees dans des logiciels de visualisation alors que d'autres sont incorporees dans le developpement de programmes d'analyse. La derniere partie consiste en la conception mecanique proprement dite de prototypes a partir de criteres bien definis et bases sur les equations developpees. Les etapes de conception decrites sont: le choix des composantes, la verification des calculs, le dessin des plans et la supervision de la construction et de l'assemblage des prototypes.

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This dissertation records the work related to the project of analysis and design of parallel spherical mechanisms with two degrees of freedom. We first study the kinematics of the mechanism, that is to say the generation of equations making it possible to solve the direct and inverse geometric problems, the determination of the speed equations leading to the Jacobian matrix, the kinematics of the members and finally the analysis of the behavior of the manipulator: his places of singularities, his dexterity as well as his reachable space. Next comes the dynamic study of the manipulator using two methods, the Newtonian approach and the energetic approach. The dynamic equations are reworked and simplified for transfer to a controller. Certain equations are then implemented in visualization software while others are incorporated into the development of analysis programs. The last part consists of the actual mechanical design of prototypes using well-defined criteria based on the developed equations. The design stages described are: choosing components, verifying calculations, drawing plans and supervising the construction and assembly of prototypes.