Bras manipulateur opérant sur un objet tridimensionnel statique

Abstract

This thesis presents the design, modeling, and numerical validation of a five-degree-of-freedom (5- DOF) serial robotic manipulator equipped with a horizontal rotating base for operations on spherical surfaces. This original architecture is intended to optimize axisymmetric tasks such as inspection, drilling, and surface treatment while reducing mechanical and algorithmic complexity. A vector- guidance approach based on a dual-targeting system was developed to ensure motion continuity and minimize orientation singularities. The forward kinematic model was established using homogeneous transformation matrices, while the inverse kinematic model was solved analytically through vector decoupling. Workspace analysis enabled the determination of trajectory reachability conditions and the identification of singular

configurations specific to the proposed architecture. Model validation was achieved through cross- verification between a Three.js-based 3D simulation environment and a scientific solver developed

in Python, demonstrating a high level of agreement between analytical results and simulated trajectories.