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3 methodological areas
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tarix | 05.01.2022 | ölçüsü | 445 b. | | #67588 |
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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 Development of generic methodologies for analysis, evaluation and design
Electric sense Electric sense Vision Machine/human interaction
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 Addition of a parallel wrist Pre-industrial prototype Work still on-going
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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