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Design and synthesis of mechanical systems with coupled units

Abstract : This thesis deals with the design principles, which arc based on the coupling of two mechanical structures. The criteria for optimal design and the types of combined units are different. However, all the tasks are considered in coupling of given mechanical units. The critical review given in the first chapter is divided into three sections due to the nature of the examined problems: legged walking robots, gravity compensators used in robots and collaborative robots. Chapter two deals with the development of single actuator walking robots designed by coupling of two mechanisms. Based on the Genetic Algorithm, the synthesis allows one to ensure the reproduction of prescribed points of the given trajectory obtained from the walking gait. By adjusting the geometric parameters of the designed units, it becomes possible not only to operate the robot at variable steps, but also to climb the stairs. The next chapter deals with the design and synthesis of gravity balancers. A robotic exosuit that can help people carrying heavy load is the subject of chapter four. The proposed exosuit presents a symbiosis of two systems: rigid lightweight support and cable system. Static and dynamic studies and optimization are considered. Experiments are also carried out on a mannequin test bench. The last chapter presents a coupled system including a hand-operated balanced manipulator and a collaborative robot. The aim of such a cooperation is to manipulate heavy payloads with less powerful robots. Dynamic analysis of the coupled system is perfonned and methods for reducing the oscillation of the HOBM at the final phase of the prescribed trajectories are proposed.
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Submitted on : Monday, October 7, 2019 - 1:54:07 PM
Last modification on : Wednesday, April 27, 2022 - 4:21:14 AM


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  • HAL Id : tel-02307221, version 1


Yang Zhang. Design and synthesis of mechanical systems with coupled units. Mechanical engineering [physics.class-ph]. INSA de Rennes, 2019. English. ⟨NNT : 2019ISAR0004⟩. ⟨tel-02307221⟩



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