Contribution à l'étude cinématique et dynamique des machines parallèles

Abstract : This thesis deals with the kinematic and dynamic modelling of limited degree-of-freedom parallel robots. These robots with less than six degrees of freedom are able to carry out several industrial tasks. The main reason of using such robots is to reduce the production costs by using less legs and motors. However, in some cases, these structures can produce a complex motion defined as a simultaneous combination of translation and rotation of the moving platform, which is the case of the Verne parallel module having three translation degrees of freedom. The modelling of this type of robots can prove to be complicated. This report includes five chapters. In the first chapter, a classification of parallel architectures is presented and a state of the art on important notions on kinematics and design of manipulators is exposed. The second and the third chapters are devoted to the kinematic modelling, serial singularity analysis and workspace calculation of the Verne machine. The fourth chapter deals with parallel singularity analysis of limited degrees of freedom robots using Grassmann-Cayley algebra. The geometrical conditions of existence of parallel singularities of three classes of parallel manipulators are found. Finally, the fifth chapter covers the dynamic modelling of limited degree-of-freedom parallel manipulators. A general method based on the Newton-Euler algorithm is developed. The proposed method takes in consideration all the dynamics of these robots including the legs dynamics as well as the mobile platform dynamics.
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Daniel Kanaan. Contribution à l'étude cinématique et dynamique des machines parallèles. Robotique [cs.RO]. Ecole Centrale de Nantes (ECN), 2008. Français. ⟨tel-01385632⟩

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