Modélisation, conception mécanique, étude cinématique et dynamique d'un robot hybride redondant à (6+3) degrés de liberté

Authors: Harton, David
Advisor: Gosselin, Clément
Abstract: Collaborative robots become present on production lines in factories. Their easiness of installation and use and their safety features make them more attractive. Serial collaborative robots are the most popular in the industry. Their main advantage is their large workspace. However, the inertia of the members of serial robots is the main limitation of the dynamic performances. Parallel robots are more attractive on this aspect. The main advantage of parallel robots is that their actuators are located near the base, decreasing the inertia compared to serial robots. However, there are few parallel collaborative robots on the market. In this Master's thesis, a novel concept of a redundant hybrid robot used for low impedance physical human-robot interaction (pHRI) applications is presented. This robot has a 3-[R(RRRRR) SR] architecture and (6+3) degrees of freedom (dof). Redundancy allows to get a larger workspace especially in rotation (compared to a non-redundant robot with the same architecture) by avoiding some type II singularity configurations in the workspace. The robot has three 3-dof hybrid legs having three actuators, and the platform, which is a 3-dof parallel planar mechanism. The three redundant degrees of freedom are used at the platform to actuate a gripper from the leg actuators. The robot has a large rotational workspace, namely > +-90° in tilt and torsion. This robot is designed to be backdrivable, with a low impedance and a low inertia. The actuators have no gearbox. The robot presented in this document is modular. Indeed, the leg architecture and the platform may differ depending on the application. In the present case, hybrid legs and planar platform are chosen for simplicity and workspace maximisation purposes. In this document, kinematic and dynamic models of the robot are presented. The main mechanical design steps and a study of the kinetic sensitivity are also detailed.
Document Type: Mémoire de maîtrise
Issue Date: 2020
Open Access Date: 19 February 2020
Grantor: Université Laval
Collection:Thèses et mémoires

Files in this item:
Description SizeFormat 
35893.pdf14.66 MBAdobe PDFThumbnail
35893_Annexe.zip92.44 MBArchive ZIPView/Open
All documents in CorpusUL are protected by Copyright Act of Canada.