3 methodological areas



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tarix05.01.2022
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3 methodological areas

  • 3 methodological areas

    • Modeling, Identification and Control
    • Design
    • Interaction and perception
  • 3 applicative areas

    • Industrial robotics
    • Bio-inspired robotics and humanoid robotics
    • Mobile robotics


Historical expertise (1985) of the team

  • Historical expertise (1985) of the team

    • Large experience in dynamic modeling (serial, parallel, flexible robots, etc.)
    • Identification of dynamic parameters
    • Inverse model based control
    • Optimal motion planning (industrial, humanoid, mobile robots)
    • Symoro+, Gecaro+


Design of robots with improved performances

  • Design of robots with improved performances

  • Development of generic methodologies for analysis, evaluation and design

  • Conceptual design, robust design, control based design



Electric sense

  • Electric sense

  • Vision

  • Machine/human interaction



Future industrial robots

  • Future industrial robots









Advantages



PAMINSA

  • PAMINSA

  • Orthoglide

  • NaVaRo

  • IRSBot-2



Manipulator with 4 DOF (Schoenflies motions)

  • Manipulator with 4 DOF (Schoenflies motions)

  • 3 pantograph legs



Actuated joints (4 ddl) :

  • Actuated joints (4 ddl) :

    • z: 1 linear actuator Mv
    • (xOy): 3 rotary actuators M1, M2, M3
  • Decoupling of kinematics models :

    • Vertical translation: pantograph
    • Horizontal displacements: 3-RPR
  • Advantages of the architecture:

    • Simplified control laws (I/O: linear for the vertical movement)
    • Power decoupling
    • Increase of the accuracy for the vertical position (mechanical locking)
    • Decrease of the manufacturing cost (use of small power actuators)
  • Possible applications:





Mechanisms with various DOF (from 3 to 6)

  • Mechanisms with various DOF (from 3 to 6)

  • Mechanisms with various equivalent planar models

    • 3-RRR, 3-RPR, 3-PPR, 3-PRR, 3-PRP, 3-RRP, etc.






Parallel robot for milling

  • Parallel robot for milling

  • Delta-like robot with prismatic actuators

  • Isotropic

  • First prototype (research project)





Addition of a parallel wrist









Benefits of such a robot have been demonstrated (simulation)

  • Benefits of such a robot have been demonstrated (simulation)

  • A company is currently discussing for buying licences

  • Future creation of a prototype (National project)

  • Type synthesis of all T2 robots: new architectures will be patented soon



NaVaRo

  • NaVaRo

  • Eel-like robot vertebras



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