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

On PKM with articulated travelign plate abd large tilting angles Informatics, Robotics, Microelectronics Sébastien Krut Laboratory of Montpellier , France Mixed Research Institute: François Pierrot - CNRS (French National Centre Speaker  of Scientific Research) Olivier Company - Montpellier 2 University LIRMM

Goals of this paper (2) 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

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

Remote actuation (4) 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

Remote actuation (5) Revolute joint is added on the traveling plate and « tele-operated from the base ABB flexpicker Bad sevice life of elements

Hybrid architecture (6) DS – SprintZ3 Two mechanisms assembled in a serial way Each one can be optimized High moving masses (Actuators far from the base)

Hybrid architecture (7) Two mechanisms assembled in a serial way Each one can be optimized Tricept High moving masses (Actuators far from the base)

Hybrid architecture (8) Left hand / right hand Shared dofs Not realistic for manipulation

Redundancy (9) Several types of redundancy exist: Actuation redundancy Kinematic redundancy

Actuation Redundancy (10) Generates internal forces Archi prototype Needs force control

Actuation Redundancy (11)

Kinematic Redundancy (12) Complexity increases Speed-R-Man

“Natural” solutions (13) Nevertheless some « natural » solutions Dual 4 exist Limited scope

“Natural” solutions (14)

Articulated traveling plate (15) Traveling plate is splitted in several parts Supports motion transformation /amplification Hita STT Complexity increases

Articulated traveling plate (16) H4 prototype Par4 prototype Gears (Ratio 4 :1)

Articulated traveling plate: Par4 (17)

Articulated traveling plate (18) I4R prototype I4L prototype

Articulated traveling plate (19)

Articulated traveling plate (20) Twice mechanism

Back to our problem…. (21) Find a new mechanism : 3T – 2R with large tilting angles Combine solutions presented before : Articulated traveling plate Redundant actuation

Kinematics of Eureka (22)

Kinematics of Eureka (23) or

Kinematics of Eureka (24) Practical design

Kinematics of Eureka (25) Practical design

Kinematics of Eureka (26)

Modeling - workspace (27) Analytic direct and forward kinematic models for postion relationship Classical linear models for velocity relationship J x _ x = J q _ q · n T ¸ (s £ n) T v v T n (s £ n) T v n T 0 Diagonal matrix

Modeling - workspace (28) (m ) O y O 1 2 O O O 5 3 O 6 O 4 (m ) z (m ) x cond(J ¡ 1 q J x W ¡ 1 x ) < 8 Workspace shape for

Conclusion (29) 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 ….

Conclusion (30) Revolute Spherical Haptic interface

Thanks !!! Contact: company@lirmm.fr to you and to my team… (31) Sébastien Krut François Pierrot Vincent Nabat Olivier Company Vincent Bégoc Etienne Dombre Philippe Poignet Walid Zarrad Mickaël Sauvée

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