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Optimisation du comportement de cellules robotiques par gestion des redondances : application à la découpe de viande et à l’Usinage Grande Vitesse

Abstract : Industrial robots have evolved fundamentally in recent years to reach the industrial requirements. We now find more suitable anthropomorphic robots leading to the realization of more complex tasks like deformable objects cutting such as meat cutting or constrained to high stresses as machining. The behavior study of anthropomorphic robots, parallel or hybrid one highlights a kinematic and dynamic anisotropy, which impacts the expected accuracy. This thesis studied the integration of the kinematic redundancy that can partially overcome this problem by well setting the task to achieve it in a space compatible with the expected capacity. This work followed a three-step approach: analytical modeling of robotic cells by serial equivalent based on the TCS method, formalizing the constraints of meat cutting process and machining process and a multicriteria optimization.The first originality of this work focuses on the development of a 6 DoFs model to analyze the operator actions who naturally optimizes his arm behavior to ensure the task it performs. The second originality concerns the optimized placement of structural redundancy (9 DoFs robotic cell) where positioning parameters are incorporated as controllable variables (11 DoFs robotic cell). Thus, the thesis makes contributions to : - the definition of criteria adapted to the realization of complex and under high stress task for the management of the kinematic redundancy; - the structural behavior identification, under stress, by metrology tools (Laser tracker ) and the self- adaptation paths by using an industrial force control; - the behavior optimization to improve the cutting process quality (meat cutting and machining).
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Kévin Subrin. Optimisation du comportement de cellules robotiques par gestion des redondances : application à la découpe de viande et à l’Usinage Grande Vitesse. Autre. Université Blaise Pascal - Clermont-Ferrand II, 2013. Français. ⟨NNT : 2013CLF22417⟩. ⟨tel-00999471⟩

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