Browsing by Author "Tempier, Olivier"
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Item Design and control of a redundant suspended cable-driven parallel robots(Springer Netherlands, 2012-01-01) Lamaury, Johann; Gouttefarde, Marc; Michelin, Micaël; Tempier, Olivier; Tecnalia Research & InnovationThis paper introduces a six degree-of-freedom suspended parallel robot driven by eight cables. The determination of an optimal geometry of such a parallel cable robot together with the design of a prototype are briefly outlined. Then, based on usual kinematic modeling, a basic control strategy is presented. Since the parallel cable-driven robot presented here is redundantly actuated, this control strategy has to deal with the problem of cable tension distribution. This latter turns out to be challenging because of the under-constrained nature of the considered cable-driven robot. The extension to these robots of existing tension distribution methods is finally discussed.Item Integrating structural and input design of a 2-DOF high-speed parallel manipulator: A flexible model-based approach(2010-11) Da Silva, Maíra M.; De Oliveira, Leopoldo P.R.; Brüls, Olivier; Michelin, Micaël; Baradat, Cédric; Tempier, Olivier; De Caigny, Jan; Swevers, Jan; Desmet, Wim; Van Brussel, Hendrik; Tecnalia Research & InnovationThis paper discusses the integrated design of parallel manipulators, which exhibit varying dynamics. This characteristic affects the machine stability and performance. The design methodology consists of four main steps: (i) the system modeling using flexible multibody technique, (ii) the synthesis of reduced-order models suitable for control design, (iii) the systematic flexible model-based input signal design, and (iv) the evaluation of some possible machine designs. The novelty in this methodology is to take structural flexibilities into consideration during the input signal design; therefore, enhancing the standard design process which mainly considers rigid bodies dynamics. The potential of the proposed strategy is exploited for the design evaluation of a two degree-of-freedom high-speed parallel manipulator. The results are experimentally validated.Item Path Following Demonstration of a Hybrid Cable-Driven Parallel Robot(2021) Michelin, Micaël; Hervé, Pierre Elie; Tempier, Olivier; Izard, Jean Baptiste; Gouttefarde, Marc; Tecnalia Research & Innovation; ROBOTICA_AUTOMAIn the context of applications requiring large workspace such as painting of airliners, a cable-driven parallel robot (CDPR) having a manipulator (robot arm) on-board its mobile platform possesses an interesting potential. Such a robotic system has typically more than six degrees of freedom (DOFs) and, hence, more than the minimum required to accomplish a task in Cartesian space. In particular, a robotic system consisting of a six-DOF cable-driven parallel robot whose mobile platform is equipped with a seven-DOF manipulator is considered in this paper. This robotic system being kinematically redundant, a redundancy resolution scheme is used to allow its end-effector to follow a relatively complex path in Cartesian space while avoiding cable collisions and satisfying some constraints on the CDPR workspace.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.