Browsing by Author "Company, Olivier"
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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 Dynamic modeling and identification of Par4, a very high speed parallel manipulator(2006) Nabat, Vincent; Company, Olivier; Pierrot, François; Poignet, Philippe; Tecnalia Research & InnovationThis paper introduces the dynamic modeling and the identification of Par4, a four-degree-of-freedom parallel manipulator producing Schonflies motions (three translations and one rotation about a fixed axis). First of all, this paper presents how this robot is developed with the goal of reaching very high speed. Indeed, it is an evolution of Delta, H4 and I4 robots architectures: it keeps their advantages while overcoming their drawbacks. Experimentations done with the prototype prove that the robot is able to reach very high accelerations (15 G) and to perform an Adept cycle in 0.25 s. In order to improve its dynamic accuracy, a dynamic control could be necessary. Thus, this paper presents the dynamic modeling of the manipulator using a simplified Newton-Euler approach. The originality of this computation is to model the traveling as two separated parts and to determine the dynamic effects applied on each of them. Finally, since a dynamic control requires a good evaluation of dynamic parameters, an experimental dynamic identification is presented.Item Heli4: A parallel robot for scara motions with a very compact traveling plate and a symmetrical design(2006) Krut, Sébastien; Company, Olivier; Nabat, Vincent; Pierrot, François; Tecnalia Research & InnovationThis paper introduces Heli4 a new 4 degree-of-freedom parallel robot. It is inspired by the Delta architecture, but was designed to overcome its limitations, using an articulated traveling plate. Unlike most articulated traveling plates, Heli4's traveling plate is very compact. Among other positive aspects is its symmetrical design. This paper gives the geometrical models, and particularly the forward position relationship which can be obtained in a closed form. In a third part, a detailed study of the robot singularities is made by taking into account the not-so-classic internal singularities.Item A high-speed parallel robot for scara motions(2004) Krut, Sébastien; Nabat, Vincent; Company, Olivier; Pierrot, François; Tecnalia Research & InnovationThis paper introduces a new 4 degree-of-freedom parallel robot. It presents its architecture inspired by FlexPicker, an ABB machine based on the Delta architecture, while overcoming its drawbacks. This paper exposes the way to get the geometrical models, and particularly the forward position relationship which can be obtained in a closed form. In a third part, a detailed study of the robot singularities is made by taking into account the not-so-classic internal singularities. Design conditions are obtained for isostatic and over-constrained cases. The robot optimization and its workspace are finally presented.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 novel 4 DoFs (3T-1R) parallel manipulator with actuation redundancy – Workspace analysis(Kluwer Academic Publishers, 2014) Shayya, Samah; Krut, Sébastien; Company, Olivier; Baradat, Cédric; Pierrot, François; Petuya, Victor; Pinto, Charles; Petuya, Victor; Lovasz, Erwin-Christian; Lovasz, Erwin-Christian; Pinto, Charles; Tecnalia Research & Innovationpaper presents a novel 4 dofs (3T-1R1) parallel actuatedly redundant mechanism and its workspace analysis, based on a performance index involving velocity and force capabilities. The robot is capable of performing a half-turn2 about the z axis. Moreover, having all of its prismatic actuators along one direction; the x motion is independent- only limited by the stroke of the prismatic actuators. The mechanism is characterized by elevated dynamical capabilities having its actuators at base.Item On the performance evaluation and analysis of general robots with mixed dofs(Institute of Electrical and Electronics Engineers Inc., 2014-10-31) Shayya, Samah; Krut, Sébastien; Company, Olivier; Baradat, Cédric; Pierrot, François; Tecnalia Research & InnovationThis paper deals with the kinetostatic performance evaluation regarding translational and rotational motions of general robots with mixed operational degrees of freedom (dofs). Also, robots with different types of actuators can be analyzed based on the same approach without any problem. Besides, the generality of the approach embraces serial, parallel, actuatedly or kinematically redundant robots. The paper seeks clarifying the issue and providing a relevant solution. It also clarifies some other useful points in this matter.Item Optimal design of a 4-DOF parallel manipulator: From academia to industry(2009) Pierrot, François; Nabat, Vincent; Company, Olivier; Krut, Sébastien; Poignet, Philippe; Tecnalia Research & InnovationThis paper presents an optimal design of a parallel manipulator aiming to perform pick-and-place operations at high speed and high acceleration. After reviewing existing architectures of high-speed and high-acceleration parallel manipulators, a new design of a 4-DOF parallel manipulator is presented, with an articulated traveling plate, which is free of internal singularities and is able to achieve high performances. The kinematic and simplified, but realistic, dynamic models are derived and validated on a manipulator prototype. Experimental tests show that this design is able to perform beyond the high targets, i.e., it reaches a speed of 5.5 m/s and an acceleration of 165 m/s2. The experimental prototype was further optimized on the basis of kinematic and dynamic criteria. Once the motors, gear ratio, and several link lengths are determined, a modified design of the articulated traveling plate is proposed in order to reach a better dynamic equilibrium among the four legs of the manipulator. The obtained design is the basis of a commercial product offering the shortest cycle times among all robots available in today's market.Item Par2: A spatial mechanism for fast planar two-degree-of-freedom pick-and-place applications(2011-02) Company, Olivier; Pierrot, François; Krut, Sébastien; Baradat, Cédric; Nabat, Vincent; Tecnalia Research & InnovationThis paper introduces a new two-degree-of-freedom (dof) parallel manipulator producing two translations in the vertical plane. One drawback of existing robots built to realize these dof is their lack of transversal stiffness, another one being their limited ability to provide very high acceleration. Indeed, these architectures cannot be lightweight and stiff at the same time. The proposed parallel architecture is a spatial mechanism which guarantees a good transversal stiffness. It is composed by two actuated kinematic chains, and two passive chains built in the transversal plane. The key feature of this robot comes from the two passive chains which are coupled to create a kinematic constraint: the platform stays in one plane. A stiffness analysis shows that the robot can be lighter and stiffer than a classical 2-dof mechanism. A prototype of this robot is presented and preliminary tests show that accelerations above 400 ms-1 can be achieved while keeping a low tracking error.Item Par4: Very high speed parallel robot for pick-and-place(IEEE Computer Society, 2005) Nabat, Vincent; De La O Rodriguez, Maria; Company, Olivier; Krut, Sebastien; Pierrot, Francois; Tecnalia Research & Innovation; ROBOTICA_AUTOMAThis paper introduces a four-degree-of-freedom parallel manipulator dedicated to pick-and-place. It has been developed with the goal of reaching very high speed. This paper shows that its architecture is particularly well adapted to high dynamics. Indeed, it is an evolution of Delta, H4 and 14 robots architectures: it keeps the advantages of these existing robots, while overcoming their drawbacks. In addition, an optimization method based on velocity using Adept Motion has been developed and applied to this high speed parallel robot. All these considerations led to experimentations that proved we can reach high accelerations (13 G) and obtain a cycle time of 0.28 s.Item Some investigations into the optimal dimensional synthesis of parallel robots(2016-04-01) Kelaiaia, Ridha; Zaatri, Abdelouahab; Company, Olivier; Chikh, Lotfi; Tecnalia Research & InnovationIn this paper, we will perform a comparison between two approaches of dimensional synthesis of parallel robots. The first one concerns the single-objective optimization approach; in this case, the dimensional synthesis is expressed by taking into account only one performance criterion but enables to get a final solution if it exists. The second one concerns the multi-objective optimization approach; it enables to simultaneously take into account several performance criteria. However, this approach appears to provide a set of solutions instead of a single expected final solution which should directly enable to carry out the structural synthesis. In fact, the search of a single final solution is postponed to a further step where the designers have to impose and/or restrict certain parameters. And we will establish if it is really necessary to make a multi-objective optimization approach or if a single-objective is sufficient to reach the objectives set in the specifications (user requirements). A discussion is proposed concerning the arising questions related to each approach and leading to the optimal dimensional synthesis. The PAR2 robot with two degree-of-freedom is used to exemplify the analysis and the comparison of the two approaches. The proposed comparison can be applied to any classes of parallel robots.Item Very fast schoenflies motion generator(2005) Nabat, Vincent; De La Rodriguez, María O.; Company, Olivier; Pierrot, François; Dauchez, Pierre; Tecnalia Research & Innovation; ROBOTICA_AUTOMAThis paper introduces a four-degree-of-freedom parallel manipulator producing Schonflies motions (three translations and one rotation). It has been developed with the goal of reaching very high speed. This paper shows that its architecture is particularly well adapted to high dynamics. Indeed, it is an evolution of Delta, H4 and I4 robots architectures: it keeps the advantages of these existing robots, while overcoming their drawbacks. In addition, this paper shows the dynamic modelling of the architecture that will be useful for a future dynamic control. Finally, experimental results are shown, and prove that the robot is able to reach high accelerations (13 G) and obtain a cycle time of 0.28 s.