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Contribution à l'amélioration de la précision des robots parallèles

David Corbel 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : The work of this thesis contributes to solve one of the actual issues of research on parallel robots which is
to find a compromise between high dynamics and good accuracy. Three approaches have been considered :
geometrical calibration using external measurements, use of metrological redundancy, and finally application
of the dissociated measurement principle. First, a classical geometrical calibration of a linear Delta
robot and the first prototype of the Par4 robot are presented. Despite being effective in the case of quasistatic
problems, this method reveals to be insufficient when the forces applied to the robot's structure bring
about deformations on the latter. Parallel robots with actuation redundancy thus present a particular difficulty
to be calibrated since internal constraints may appear in their mechanisms and deform their structure.
This is why a method to transform actuation redundancy into kinematic redundancy has been proposed.
Metrological redundancy has also been studied, and several methods benefitting from it have been
analyzed and tested. Finally, the concept of dissociation between actuation and measurement is introduced.
This novel concept in parallel robotics lies on the separation of motion and force transmission from the
robot's state measurement. This concept has been applied on a parallel-based machine tool, and a prototype
has been built. Control laws have been tested, and results concerning precision improvement are presented
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Submitted on : Wednesday, February 11, 2009 - 3:02:37 PM
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David Corbel. Contribution à l'amélioration de la précision des robots parallèles. Sciences de l'ingénieur [physics]. Université Montpellier II - Sciences et Techniques du Languedoc, 2008. Français. ⟨tel-00360561⟩

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