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Contribution au développement d'un dispositif de sécurité intelligente pour la cobotique

Abstract : In the recent years, we witnessed a paradigm shift from making stiff robots toward compliant ones. This is due to several reasons such as enhancing the efficiency of robots in making explosive or cyclic motion. In fact, one of the earliest motivations from which this change stems are safety. Speaking of safety of both the human subject and the robot alike, while engaging in a collaborative task. Thus, the designation of cobots. Cobots may assist well-experienced human operator in several domains where precision is a must, such as industrial applications or medical tasks. Until now cobots still display safety concerns, even with regulatory recommendations such as ISO/TS 15066 and ISO 10218-1 et 2 that limits their economic benefits. In this view, several research projects were launched worldwide to enhance the cobot’s dynamics vs safety, ANR-SISCob (Safety Intelligent Sensor for cobots) is one of these projects. The works conducted during this thesis aims at making safety devices that will make robots safe by introducing compliance aspect in them. Indeed, we developed two devices in which safety aspect is achieved with two different approaches: -Prismatic Compliant Joint (PCJ): is aimed at prismatic joint’s implementation, as few works have dealt with such actuation systems. Herein, safety is biomimetically attained while coping with other safety criteria related to the mechanical properties of human body. -Variable Stiffness Safety Oriented Mechanism (V2SOM): Unlike the first device that’s biomimetically inspired and serves at linear actuation systems, V2SOM’s safety profile is safety oriented according to two safety criteria Impact force and HIC, and is designed for rotary actuation. The safety oriented aspect is due to what we call inertia decoupling capacity of its stiffness profile. V2SOM is currently in its final patenting process.Both devices will be integrated in serial robot built in our lab.
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Younsse Ayoubi. Contribution au développement d'un dispositif de sécurité intelligente pour la cobotique. Automatique / Robotique. Université de Poitiers, 2018. Français. ⟨NNT : 2018POIT2278⟩. ⟨tel-02015982⟩

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