Design Procedure for a Fast and Accurate Parallel Manipulator

Démarche pour la Conception d'un Manipulateur Parallèle Rapide et Précis

Sébastien Briot (1, 2) , Stéphane Caro (1, 3) , Coralie Germain (4)

1 LS2N - Laboratoire des Sciences du Numérique de Nantes
2 LS2N - équipe ARMEN - Autonomie des Robots et Maîtrise des interactions avec l’ENvironnement
3 LS2N - équipe RoMas - Robots and Machines for Manufacturing, Society and Services
4 AGROCAMPUS OUEST

This paper presents a design procedure for a two-degree of freedom translational parallel manipulator, named IRSBot-2. This design procedure aims at determining the optimal design parameters of the IRSBot-2 such that the robot can reach a velocity equal to 6~m/s, an acceleration up to 20~G and {a multi-directional repeatability} up to 20~$\mu$m throughout its operational workspace. Besides, contrary to its counterparts, the stiffness {of} the IRSBot-2 should be very high along the normal to the plane of motion of its moving-platform. A semi-industrial prototype of the IRSBot-2 has been realized based on the obtained optimum design parameters. This prototype and its main components are described in the paper. Its accuracy, repeatability, elasto-static performance, dynamic performance and elasto-dynamic performance have been measured and analyzed as well. It turns out the IRSBot-2 has globally reached the prescribed specifications and is a good candidate to perform very fast and accurate pick-and-place operations.

Mots clés: Accuracy; Parallel Robots; Fast

Domaines: Robotique [cs.RO]

Sébastien Briot, Stéphane Caro, Coralie Germain. Design Procedure for a Fast and Accurate Parallel Manipulator. Journal of Mechanisms and Robotics, 2017, 9 (6), pp.061012. ⟨10.1115/1.4038009⟩. ⟨hal-01587975⟩