AIR2, un robot parallèle à actionnement pneumatique à deux degrés de liberté pour les applications de prise et dépose d'objets

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URI: https://hdl.handle.net/11556/4618
ISSN: 1296-2139
DOI: 10.1051/meca/2011106
Publication date
2011
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Abstract
A two degrees-of-freedom pneumatically driven parallel robot has been developed for pick-and-place of payloads comprised between 5 and 20 kg using standard double acting cylinders cheaper than electrical motors. After the general presentation of the robot, the actuator models are developed and a novel control strategy is introduced based on a cascade scheme with a predictive position controller and an inner H∞ force control. Some experimental results are then presented and analyzed in order to show the effectiveness of the controllers.
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Modeling , Parallel robotics , Pneumatic actuators , General Materials Science , Mechanical Engineering , Industrial and Manufacturing Engineering
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journal article
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Chikh , L , Baradat , C , Poignet , P , Pierrot , F & Michelin , M 2011 , ' AIR2, un robot parallèle à actionnement pneumatique à deux degrés de liberté pour les applications de prise et dépose d'objets ' , Mecanique et Industries , vol. 12 , no. 3 , pp. 239-243 . https://doi.org/10.1051/meca/2011106