Optimal design of a new spherical parallel manipulator

This paper deals with the optimization of a New Spherical Parallel Manipulator (N_SPM). The N_SPM is obtained by changing the kinematic of one leg of a classic spherical parallel manipulator. This change is carried out to reduce the presence of the singularity in the useful area of the workspace. The mobility of the N_SPM is similar to the classic one. First, the less-singular working mode of the N_SPM was identified then an optimization of the dexterity is made to eliminate the singularity from the useful workspace. Finally, the optimal N_SPM is presented.