3 methodological areas

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

• Advantages

• Acceleration / velocity
• Stiffness
• High Payload-to-weight ration

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:

• Displacement of heavy loads
• Micromanipulation

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)

• 2 g of acceleration
• Workspace: cube of edge length 20 cm

Addition of a parallel wrist

• Addition of a parallel wrist

• Pre-industrial prototype

• Work still on-going

• Discussion for a Mexican company for licences

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