Browsing by Keyword "Parallel kinematics"
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Item An agile manufacturing system for large workspace applications(Springer Verlag, 2013) Yang, Hai; Baradat, Cédric; Krut, Sébastien; Pierrot, François; MEDIOS DE PRODUCCIÓN Y ROBOTICA; Tecnalia Research & InnovationREMORA aims at offering an agile robotic solution for manufacturing tasks done on very large parts (e.g.: very long and slender parts found in aeronautic industries). For such tasks, classical machine-tools are designed at several tens of meters. Both their construction and operation require huge infrastructure supports. REMORA is a novel lightweight concept and flexible robotic solution that combines the ability of walking and manufacturing. The robot is a mobile manufacturing system which can effectuate operations with good payload capacity and good precisions for large workspace applications. This new concept combines parallel kinematics to ensure high stiffness but low inertia, and mobile robotics to operate in very large workspaces. This results in a machining center of new generation: 1. Agile manufacturing system for large workspace applications; 2. Heavy load and good precisions; 3. 5-axis machining and 5-axis locomotion/clamping; 4. Self-reconfigurable for specific tasks (workspace and force); 5. Flexible and multifunctional (machining, fixture).Item An agile manufacturing system for large workspace applications(2016-07-01) Yang, Hai; Baradat, Cédric; Krut, Sébastien; Pierrot, François; MEDIOS DE PRODUCCIÓN Y ROBOTICA; Tecnalia Research & InnovationREMORA aims at offering an agile robotic solution for manufacturing tasks done on very large parts (e.g., very long and slender parts found in aeronautic industries). For such tasks, classical machine tools are designed at several tens of meters. Both their construction and operation require huge infrastructure supports. REMORA is a novel lightweight concept and flexible robotic solution that combines the ability of walking and manufacturing. The robot is a mobile manufacturing system which can effectuate operations with good payload capacity and good precisions for large workspace applications. This new concept combines parallel kinematics to ensure high stiffness but low inertia and mobile robotics to operate in very large workspaces. This results in a machining center of new generation: (1) agile manufacturing system for large workspace applications, (2) heavy load and good precisions, (3) 5-axis machining and 5-axis locomotion/clamping, (4) self-reconfigurable for specific tasks (workspace and force), and (5) flexible and multifunctional.Item Full Production Plant Automation in Industry Using Cable Robotics with High Load Capacities and Position Accuracy(Springer Verlag, 2018) Culla, David; Gorrotxategi, Jose; Rodríguez, Mariola; Izard, Jean Baptiste; Hervé, Pierre Ellie; Cañada, Jesús; Ollero, Anibal; Sanfeliu, Alberto; Montano, Luis; Lau, Nuno; Cardeira, Carlos; MAQUINAS; ROBOTICA_AUTOMA; Tecnalia Research & InnovationThe aim of this paper is to introduce an innovative machinery result of combining cable suspended robot technology based on parallel kinematics with a traditional gantry crane. This machinery has been named Cablecrane. Its purpose is to keep the same load capabilities as in traditional gantry cranes while enabling full 6 degrees of freedom (DOF) control of the payload. This means that the payload is fully controlled in position and orientation while it is being manipulated. Thus, precision load handling and movement without oscillations are possible in any direction, in any orientation. In addition, combined with appropriate calibration, sensors and integrated CNC controller, most of manipulation tasks in plant can be programmed and automatized. The final result is an increase in production, full plant automation and enhanced plant safety.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.