Browsing by Author "Baradat, Cedric"
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Item Dimensional synthesis of 4 DoFs (3T-1R) actuatedly redundant parallel manipulator based on dual criteria: Dynamics and precision(Institute of Electrical and Electronics Engineers Inc., 2014-10-31) Shayya, Samah; Krut, Sebastien; Company, Olivier; Baradat, Cedric; Pierrot, Francois; Tecnalia Research & InnovationThis paper presents the dimensional synthesis of a 4 dofs (3T-1R) actuatedly redundant parallel manipulator (called ARROW V1) based on dual criteria related to rapidity and precision. The dynamical (rapidity) criterion is the worst isotropic linear acceleration starting from rest, and the precision related criterion is the worst translational resolution amplification factor. This latter amplification factor happens to be equal to the theoretical translational repeatability and accuracy amplification factors as well. Also, other kinetostatic and dynamic performances have been evaluated for the synthesized set of geometric parameters as to validate global performances. The results are quite interesting showing a highly performant parallel kinematic machine (PKM).Item Integration of a parallel cable-driven robot on an existing building façade(Springer Netherlands, 2013) Izard, Jean Baptiste; Gouttefarde, Marc; Baradat, Cedric; Culla, David; Sallé, Damien; Tecnalia Research & Innovation; MAQUINAS; ROBOTICA_FLEXIn order to use a cable-driven parallel robot to inspect an existing surface, a straightforward solution consists in fixing the robot components on this surface. In most cases, however, there are conditions that limit these fixations, for example structural reasons since the frame of the surface has probably not been specifically calculated to withstand the forces generated by the parallel cable-driven robot. In the particular case of inspection of the façade of a building, civil engineering specifications apply, which may drastically reduce the engineering possibilities from the point of view of the parallel cable-driven robot designers. This paper introduces a detailed example of implementation of a parallel cable-driven robot on the Media-TIC building located in Barcelona in Spain. In this highly technological building, the main façade parallel cable-driven robot in intended to work as a sensor for monitoring the environment, but also as an interface between the building and its occupiers. The various constraints—due to normative, structural and aesthetic reasons—that were tackled are described in the paper, along with the elected detailed design of the robot that complies with these constraints.Item A novel (3T-1R) redundant parallel mechanism with large operational workspace and rotational capability(2013) Shayya, Samah; Krut, Sebastien; Company, Olivier; Baradat, Cedric; Pierrot, Francois; Tecnalia Research & InnovationThis paper presents a novel 4 dofs (3T-1R(1)) parallel redundant mechanism, with its complete study regarding inverse and direct geometric models (IGM and DGM), as well as singularity and workspace analysis. The robot is capable of performing a half-turn about the z axis (a complete turn would be theoretically possible if it were not for possible unavoidable inter-collisions in the practical case), and having all of its prismatic actuators along one direction, enables it to have an independent x motion - only limited by the stroke of the prismatic actuators. The mechanism is characterized by elevated dynamical capabilities having its actuators at base. Moreover, the performance of the robot is evaluated considering isotropy in velocity and forces.Item A novel (3T-2R) parallel mechanism with large operational workspace and rotational capability(Institute of Electrical and Electronics Engineers Inc., 2014-09-22) Shayya, Samah; Krut, Sebastien; Company, Olivier; Baradat, Cedric; Pierrot, Francois; Tecnalia Research & InnovationThe paper presents a novel 5 dofs (3T-2R) parallel mechanism. The mechanism is characterized by large singularity-free workspace and particularly large rotational capability which makes it suitable for 5 face-machining and similar applications. Having all its prismatic actuators along x direction, The x-motion is independent from other dofs-only limited by prismatic actuators' strokes-constituting another major advantageous feature. Besides, an analytical direct geometric model can be easily established which is a rare feature in parallel robots. The paper introduces The novel mechanism with its inverse and direct geometric models as well as its kinematic models (forward and inverse Jacobians). Also, it discusses its singularity analysis and presents sample workspace plots evaluated based on isotropic performance regarding velocity and static force.Item A reconfigurable robot for cable-driven parallel robotic research and industrial scenario proofing(Springer Netherlands, 2013) Izard, Jean Baptiste; Gouttefarde, Marc; Michelin, Micaël; Tempier, Olivier; Baradat, Cedric; Tecnalia Research & InnovationPicturing the interest of research institutions and industrial actors, the list of research and demonstration parallel cable-driven robot prototypes is growing by the day. LIRMM and Tecnalia have decided to put knowledge in common in order to develop novel concepts for cable-driven parallel robotics and demonstrate its capabilities in industrial tasks. We have developed together a reconfigurable cable robot for this purpose. The robot main characteristics, e.g. footprint, mobile platform geometry and drawing point layout can be modified at will, making it particularly suitable for studying in good conditions new configurations or novel control laws, as well as any scenario suggested by our partners. The present paper first provides an overview of the robot. Afterwards, a more specific view on the different components and the capabilities of reconfiguration are presented, as well as examples of layouts meant for various research and industrial projects.