On PKM with articulated travelign plate abd large tilting angles - - PowerPoint PPT Presentation

▶
on pkm with articulated travelign plate abd large tilting
SMART_READER_LITE
LIVE PREVIEW

On PKM with articulated travelign plate abd large tilting angles - - PowerPoint PPT Presentation

May 05, 2023 217 likes •559 views

On PKM with articulated travelign plate abd large tilting angles Informatics, Robotics, Microelectronics Sbastien Krut Laboratory of Montpellier , France Mixed Research Institute: Franois Pierrot - CNRS (French National Centre Speaker

slide-1
SLIDE 1

Informatics, Robotics, Microelectronics Laboratory of Montpellier, France Mixed Research Institute:

  • CNRS

(French National Centre

  • f Scientific Research)
  • Montpellier 2 University

On PKM with articulated travelign plate abd large tilting angles

Sébastien Krut François Pierrot Olivier Company

LIRMM

Speaker 

slide-2
SLIDE 2

(2)

Goals of this paper

Propose a new kinematics with: 3 translations 2 rotations With large tilting angles (ie with more than +/- 45 degrees for both) For example for 5 axis milling

slide-3
SLIDE 3

(3)

Presentation summary

Points adressed: General solutions to reach large tilting angles Solution for 5-axis (3T-2R) Eureka Modeling & Workspace Conclusion

slide-4
SLIDE 4

(4)

Remote actuation

Constraint: Actuators as close as possible to the base Problem well known for one rotation. Solutions : Remote actuation Hybrid architecture Redundancy « Natural » solutions Articulated traveling plate

slide-5
SLIDE 5

(5)

Remote actuation

Revolute joint is added

  • n the traveling plate

and « tele-operated from the base Bad sevice life of elements

ABB flexpicker

slide-6
SLIDE 6

(6)

Hybrid architecture

High moving masses (Actuators far from the base)

DS – SprintZ3

Two mechanisms assembled in a serial way Each one can be

  • ptimized
slide-7
SLIDE 7

(7)

Hybrid architecture

Two mechanisms assembled in a serial way Each one can be

  • ptimized

High moving masses (Actuators far from the base)

Tricept

slide-8
SLIDE 8

(8)

Hybrid architecture

Left hand / right hand Shared dofs Not realistic for manipulation

slide-9
SLIDE 9

(9)

Redundancy

Several types of redundancy exist: Actuation redundancy Kinematic redundancy

slide-10
SLIDE 10

(10)

Actuation Redundancy

Needs force control

Archi prototype

Generates internal forces

slide-11
SLIDE 11

(11)

Actuation Redundancy

slide-12
SLIDE 12

(12)

Kinematic Redundancy

Speed-R-Man

Complexity increases

slide-13
SLIDE 13

(13)

“Natural” solutions

Limited scope Nevertheless some « natural » solutions exist

Dual 4

slide-14
SLIDE 14

(14)

“Natural” solutions

slide-15
SLIDE 15

(15)

Articulated traveling plate

Traveling plate is splitted in several parts Supports motion transformation /amplification

Hita STT

Complexity increases

slide-16
SLIDE 16

(16)

Articulated traveling plate

Gears (Ratio 4 :1)

H4 prototype Par4 prototype

slide-17
SLIDE 17

(17)

Articulated traveling plate: Par4

slide-18
SLIDE 18

(18)

Articulated traveling plate

I4R prototype I4L prototype

slide-19
SLIDE 19

(19)

Articulated traveling plate

slide-20
SLIDE 20

(20)

Articulated traveling plate

Twice mechanism

slide-21
SLIDE 21

(21)

Back to our problem….

3T – 2R with large tilting angles Combine solutions presented before : Articulated traveling plate Redundant actuation

Find a new mechanism :

slide-22
SLIDE 22

(22)

Kinematics of Eureka

slide-23
SLIDE 23

(23)

Kinematics of Eureka

  • r
slide-24
SLIDE 24

(24)

Kinematics of Eureka

Practical design

slide-25
SLIDE 25

(25)

Kinematics of Eureka

Practical design

slide-26
SLIDE 26

(26)

Kinematics of Eureka

slide-27
SLIDE 27

(27)

Modeling - workspace

Jx _ x = Jq _ q Analytic direct and forward kinematic models for postion relationship

Diagonal matrix

Classical linear models for velocity relationship · nT (s £ n)T v v T n nT (s £ n)T v ¸

slide-28
SLIDE 28

(28)

Modeling - workspace

O (m ) z (m ) y (m ) x

1

O

4

O

2

O

3

O

5

O

6

O

Workspace shape for cond(J¡ 1

q Jx W ¡ 1 x ) < 8

slide-29
SLIDE 29

(29)

Conclusion

Presentation of several solutions to achieve large rotations with PM Presentation of a new kinematics with: 2 rotational dof and large workspace Emphasis on the next prototype ….

slide-30
SLIDE 30

(30)

Conclusion

Spherical Revolute

Haptic interface

slide-31
SLIDE 31

(31)

Thanks !!!

to you and to my team…

Contact: company@lirmm.fr

Vincent Nabat François Pierrot Sébastien Krut Olivier Company Vincent Bégoc Walid Zarrad Mickaël Sauvée Etienne Dombre Philippe Poignet

slide-32
SLIDE 32

(32)