Amélioration par la gestion de redondance du comportement des robots à structure hybride sous sollicitations d’usinage

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 loading like during 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 helped us to improve our optimization tool and to try it on both FE model of the robot and real robot.Thus, the thesis makes contributions to: - the definition of criteria adapted to the realization of complex and under high loading task for the management of the kinematic redundancy; - the structural behavior identification, under loading, by metrology tools (Laser tracker) ; - the behavior optimization to improve the cutting process quality during machining ; - robots finite elements modeling using stiffness identification for both bodies and joints.
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Submitted on : Tuesday, November 27, 2018 - 3:25:07 PM
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Richard Cousturier. Amélioration par la gestion de redondance du comportement des robots à structure hybride sous sollicitations d’usinage. Génie mécanique [physics.class-ph]. Université Clermont Auvergne, 2017. Français. ⟨NNT : 2017CLFAC090⟩. ⟨tel-01936694⟩

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