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Conception Robuste de Mécanismes

Abstract : This thesis deals with the study of the robustness of mechanisms.
Its main contributions lie in the determination of a robustness index, the development of two sensitivity analysis methods for Parallel Kinematic Machines (PKM) of Delta-Linear type, the formulation of a tolerance synthesis procedure, and the robustness study of a family of generic and non-generic manipulators with three degrees of freedom. The report is thus divided into four chapters.

The first chapter is devoted to a listing of the general properties of the studied mechanisms, to a state of the art of robust design, and to the formulation of a robust design problem. The second chapter deals with the sensitivity analysis of the Orthoglide, a PKM of Delta-Linear type with three degrees of freedom of translation.

The study allows us to know the sensitivy of the pose of the end-effector of the manipulator to the variations in its geometrical parameters. Moreover, it highlights the configurations of the manipulator for which this sensitivity is a minimum and a maximum.
The third chapter sets out an optimal robustness index for the studied mechanisms, and a tolerance synthesis procedure composed of two sequential stages. In addition, they are illustrated by several case studies, from a shock absorber to a PKM. Finally, the fourth
chapter describes the robustness study of a family of generic and non-generic manipulators with three degrees of freedom. It aims at identifying the correlations between the concepts of robustness and
genericity. For that matter, various robotic notions are exploited, such as the path feasibility, the accuracy, and the dexterity of a manipulator. It turns out that the genericity of a manipulator does not affect either its kinematic performances or the sensitivity of the position of its effector to the variations in its geometrical parameters.
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Contributor : Stéphane Caro Connect in order to contact the contributor
Submitted on : Monday, June 5, 2006 - 7:53:32 PM
Last modification on : Thursday, November 17, 2022 - 4:48:10 PM
Long-term archiving on: : Friday, November 25, 2016 - 10:59:57 AM


  • HAL Id : tel-00078374, version 1


Stéphane Caro. Conception Robuste de Mécanismes. Automatique / Robotique. Ecole Centrale de Nantes (ECN), 2004. Français. ⟨NNT : ⟩. ⟨tel-00078374⟩



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