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Conception et commande d’un robot industriel en bois

Abstract : Designing robots with bio-sourced materials (BSM) for eco-design purpose has almost never been explored in the past. This thesis investigates the potential of using bio-sourced materials, which have almost no environmental impact, instead of metals for robot design. Wood is one of the best candidates because of its interesting mechanical properties. However, wood performance / dimensions vary with the atmospheric conditions / external solicitations. Thus, this thesis is in the framework of the RobEcolo project whose challenging to design a stiff and accurate wooden industrial parallel robot. To ensure optimal performance of the wooden robot (specifically the accuracy) and in order to minimize the uncertainty of the BSM models and the errors due to the dimensional variations due to atmospheric conditions, exteroceptive sensors can be used to control the robot. In order to satisfy these requirements, we propose in this manuscript a modification of the Euler-Bernoulli beam theory which is used to develop accurate and fast wood elastic models able to predict the realistic robot static and dynamic behaviors. Finally, theoretical developments proposed in this thesis allowed the prototyping of an industrial wooden five-bar mechanism and the robot performance in term of safeness and accuracy has been validated experimentally on the prototype.
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  • HAL Id : tel-02888073, version 1

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Lila Kaci. Conception et commande d’un robot industriel en bois. Eco-conception. École centrale de Nantes, 2018. Français. ⟨NNT : 2018ECDN0053⟩. ⟨tel-02888073⟩

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