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Analyse et conception d'un robot parallèle sous-actionné intrinsèquement sûr

Abstract : This thesis introduces the R-Min robot, a concept of an underactuated parallel robot designed to reduce the efforts due to an impact with a person. The architecture is based on the five-bar mechanism on which revolute joints are added on the forearms. The geometrico-static and kinemato-static models are deduced from the robot energetic condition necessary for robot equilibrium. A discrete study of the solutions to these models allows to obtain the workspace of the robot and the locus of its singularities. The study then focuses on the safety analysis. A reduced massspring-mass model, taking into account a dynamically consistent stiffness, is defined allowing to obtain a simplification of the dynamic model at the time of the impact and thus gives a new way to characterize the safety of compliant robots. An experimental analysis of the RMin robot allows first to validate the feasibility of modeling and controlling this type of structure while reducing its oscillations. Then the respective effect on the safety of the underactuation, of the stiffness, of the velocities and of the impacted object is evaluated for the impact of the R-Min robot with a dedicated measurement device. Results are reinforced in simulation and leads to the conclusion that an underactuated parallel structure permits safety improvement of intrinsically safe robots.
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Submitted on : Tuesday, September 6, 2022 - 11:36:35 AM
Last modification on : Tuesday, September 27, 2022 - 9:36:45 AM


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  • HAL Id : tel-03770235, version 1


Guillaume Jeanneau. Analyse et conception d'un robot parallèle sous-actionné intrinsèquement sûr. Robotique [cs.RO]. École centrale de Nantes, 2022. Français. ⟨NNT : 2022ECDN0018⟩. ⟨tel-03770235⟩



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