Bibliografie tematiche / Conception de robots

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Letteratura scientifica selezionata sul tema "Conception de robots"

Autore: Grafiati
Pubblicato: 11 gennaio 2025

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Articoli di riviste sul tema "Conception de robots"

1

Ignatova, D., E. Abadjieva, V. Abadjiev e Al Vatzkitchev. "Walking Robot Locomotion System Conception". Journal of Theoretical and Applied Mechanics 44, n. 3 (1 settembre 2014): 21–30. http://dx.doi.org/10.2478/jtam-2014-0014.

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Abstract (sommario):
Abstract This work is a brief analysis on the application and perspective of using the walking robots in different areas in practice. The most common characteristics of walking four legs robots are presented here. The specific features of the applied actuators in walking mechanisms are also shown in the article. The experience of Institute of Mechanics - BAS is illustrated in creation of Spiroid and Helicon1 gears and their assembly in actuation of studied robots. Loading on joints reductors of robot legs is modelled, when the geometrical and the walking parameters of the studied robot are preliminary defined. The obtained results are purposed for designing the control of the loading of reductor type Helicon in the legs of the robot, when it is experimentally tested.
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2

Chabaud-Rychter, Danielle. "L’innovation industrielle dans l’électroménager : conception pour l’usage et conception pour la production". Articles 9, n. 1 (12 aprile 2005): 15–36. http://dx.doi.org/10.7202/057866ar.

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Abstract (sommario):
Cet article s'inscrit dans un travail mené, à partir d'une enquête dans une entreprise française de petit électroménager, sur les relations entre l'innovation industrielle et le monde domestique. Au cours de l'enquête, nous avons suivi en temps réel le processus de conception et de mise en fabrication de robots de cuisine multifonctions. Deux aspects du travail d'innovation sont analysés ici. Dans une première partie, nous montrons comment les innovateurs conçoivent les robots pour l'usage, comment, au cours de ce travail, ils prennent en considération les usagers et usagères des appareils et comment ils en construisent des représentations hétérogènes. À la conception des appareils est liée celle des actions des femmes lorsqu'elles les utilisent, et donc se pose la question des modes de prescription de l'usage que les innovateurs inscrivent dans les objets. Une deuxième partie traite de la conception des produits pour l'appareil de production ainsi que de la modification des postes de travail, des outillages et des modes opératoires des ouvrières pour la fabrication d'une nouvelle gamme de robots. D'autres formes de prescription de l'activité des femmes sont aussi mises en œuvre par les innovateurs; nous tentons d'analyser ce qu'en font les opératrices.
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3

Benotsmane, R., L. Dudás e Gy Kovács. "Collaborating robots in Industry 4.0 conception". IOP Conference Series: Materials Science and Engineering 448 (30 novembre 2018): 012023. http://dx.doi.org/10.1088/1757-899x/448/1/012023.

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4

Herbuś, Krzysztof, Piotr Ociepka e Aleksander Gwiazda. "Conception of the Integration of the Virtual Robot Model with the Control System". Advanced Materials Research 1036 (ottobre 2014): 732–36. http://dx.doi.org/10.4028/www.scientific.net/amr.1036.732.

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Abstract (sommario):
The paper presents the conception of integration of a robot virtual model with its virtual control system. The system of connections between the virtual world and the control system of a virtual model, proposed in the work, should let for developing the technical approach allowing teaching the manual programming of robots. In the paper attempted to define particular subsystems included in the proposed system for teaching programming of robots. In the work it have been distinguished problems that should be solved in order to properly create the proposed virtual system, and namely problems related to the: creation of a robotic system model in CAD systems, including modelling of a robot and its technological equipment; modelling of functioning of a real system in the applications of the VR (Virtual Reality) class; creation of a robot control system basing on a high level programming language (control application); elaboration of a virtual robot control panel (hardware interface); determination of the appropriate stereoscopic projection system and creation of the interfaces between the particular subsystems.
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5

Merlet, J.-P. "DEMOCRAT: A DEsign MethOdology for the Conception of Robots with parallel ArchiTecture". Robotica 15, n. 4 (luglio 1997): 367–73. http://dx.doi.org/10.1017/s0263574797000453.

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Abstract (sommario):
This paper presents a design methodology for parallel robots having to satisfy a set of performance constraints. Some of these constraints are used to compute a closed region in the parameters space (in which a point define an unique robot geometry) which define all the robot geometries fulfilling these constraints. Then a grid is created over this region and for each node of this grid the requirements, expressed in a high level language, are evaluated. The node leading to the robot best fulfilling the constraints is the design solution.
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6

Janowski, Mateusz, Danuta Jasińska-Choromańska, Dymitr Osiński e Marcin Zaczyk. "Universal compact lower limb turning module intended for use in orthotic robots". MATEC Web of Conferences 157 (2018): 03011. http://dx.doi.org/10.1051/matecconf/201815703011.

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Abstract (sommario):
In this paper, a model of an orthotic robot’s lower limb rotation system is presented. The system is intended for use in typical contemporary orthotic robots such as the ‘Veni-Prometheus’ System for Verticalization and Aiding Motion designed at the Faculty of Mechatronics, Warsaw University of Technology. In the paper, the state of the art is briefly stated, with the relatively low number of orthotic robots allowing realization of pivoting turns highlighted. The intended two-stage pivoting turning movement is analyzed in detail and the operating conditions as well as limitations of the turning module are indicated. The conception of a turning module introduces additional degree of freedom to the existing orthotic robot designs by realizing the rotation about the lengthwise axis in the thigh link. A three-dimensional model and its analysis are shown. The proposed design ensures the necessary movement of the lower limb and the torso of an impaired person during the execution of pivoting turn while remaining compact in order to ease the introduction of the turning system to different orthotic robot designs.
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7

Pană, Cristina, Cristian Vladu, Daniela Pătraşcu-Pană, Florina Besnea (Petcu), Çtefan Cismaru, Andrei Trăşculescu, Ionuţ Reşceanu e Nicu Bîzdoacă. "Position control for hybrid infinite-continuous hyper-redundant robot". MATEC Web of Conferences 343 (2021): 08009. http://dx.doi.org/10.1051/matecconf/202134308009.

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Abstract (sommario):
This paper presents a new conception and analyzes a hyperredundant continuous robot (continuous style manipulator), drive system, and control strategy. The robot includes ten flexible segments and can be extended to several components as needed. The chosen hyper-redundant robot has a continuous infinite hybrid structure (HHRIC), based on hydraulic control with a rheological element. This system combines the advantage of a joint-level drive with a lightweight construction similar to the base-driven robots. It is suitable for tasks such as wiring in hard-toreach areas (caves, subaccounts, steep areas), transportation of fluids or food to areas affected by natural disasters (people buried under ruins), exploration in difficult areas (speleological research). Generally, the control algorithms for hyper-redundant robots are specific to the robots’ constructive particularities to which they have applied and the environment in which they operate. Experimental results validate the proposal robot design and control strategies in virtual reality. As a result, it is concluded that hyper-redundant robots and immersive technologies should play an essential role soon in automated and teleoperation applications.
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Vossoughi, Gholamreza, Hodjat Pendar, Zoya Heidari e Saman Mohammadi. "Assisted passive snake-like robots: conception and dynamic modeling using Gibbs–Appell method". Robotica 26, n. 3 (maggio 2008): 267–76. http://dx.doi.org/10.1017/s0263574707003864.

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Abstract (sommario):
SUMMARYIn this paper, we present a novel structure of a snake-like robot. This structure enables passive locomotion in snake-like robots. Dynamic equations are obtained for motion in a horizontal plane, using Gibbs–Appell method. Kinematic model of the robot include numerous nonholonomic constraints, which can be omitted at the beginning by choosing proper coordinates to describe the model in Gibbs–Appell framework. In such a case, dynamic equations will be significantly simplified, resulting in considerable reduction of simulation time. Simulation results show that, by proper selection of initial conditions, joint angles operate in a limit cycle and robot can locomote steadily on a passive trajectory. It can be seen that the passive trajectory is approximately a Serpenoid curve.
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Guyonneau, Rémy, e Franck Mercier. "IstiABot ou la Conception d’un Robot Libre pour l’Éducation et la Recherche". J3eA 20 (2021): 0002. http://dx.doi.org/10.1051/j3ea/20210002.

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Abstract (sommario):
L’IstiABot est un robot mobile terrestre réalisé dans un but conjoint de pédagogie et de recherche. Il vise à être modulaire, simple à modifier et utilisable autant par des étudiants de première année du cycle préparatoire que par des étudiants en dernière année du cycle ingénieur et des chercheurs. Pour pouvoir satisfaire ces objectifs, le robot repose sur l’utilisation d’un bus CAN (Controller Area Network). Cet article présente le robot ainsi que les raisons qui ont mené à sa fabrication. Il détaille aussi deux applications de la plate-forme dans un cadre pédagogique (développement d’une carte électronique et mise au point d’un contrôleur PID - Proportionnel, Intégral, Dérivé - pour une régulation de vitesse) et une application dans le cadre de recherches (expérimentation de cartographie et localisation simultanées). Finalement, sont aussi présentés deux autres robots conçus sur la même base que l’IstiABot. Le robot IstiABot étant pensé avec une philosophie libre, tous les codes sources, modèles 3D, schémas des cartes… sont disponibles en accès libre.
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Sahu, Atul Kumar, Harendra Kumar Narang, Mridul Singh Rajput e Nitin Kumar Sahu. "A SAW Mechanism for Investigating the Status of Industrial Robots Under Comprehensive Sustainable Aspects". International Journal of Social Ecology and Sustainable Development 10, n. 3 (luglio 2019): 69–84. http://dx.doi.org/10.4018/ijsesd.2019070105.

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Abstract (sommario):
The authors attempt to model a decision-making mechanism; which can fix multiple robot characteristics and can aid in investigating robots status for a particular manufacturing arena. The work exposed a series of applicable robot characteristics; which differentiated their working capacity and defines their value. A simple additive weighting (SAW) mechanism under a fuzzy concept is presented for investigating the status of industrial robots; which incorporates comprehensive aspects for sustainable robot selection. The authors have extended the application field of fuzzy sets theory and illustrated the significant application of linguistic terms in the robot decision-making problem. The work compounds fuzzy sets theory with SAW techniques and thus serves a flavor of fuzzy concept and a SAW technique under single platform. The study reveals the course of action for executing the proposed work by the managers. The work has applied fuzzy linguistic terms for griping the appropriate perceptions of the decision makers and applied the conception of SAW methodology to yield the decision results.
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Più fonti

Tesi sul tema "Conception de robots"

1

Le, Corre Yann. "Conception et commande d'un robot omnidirectionnel". Montpellier 2, 1998. http://www.theses.fr/1998MON20195.

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Abstract (sommario):
Cette these traite de la conception, de la realisation et de la commande d'un robot mobile omnidirectionnel. Dans un premier temps, nous presentons les solutions existantes, nous en degageons les limites. Nous choisissons une structure originale de robot a 3 roues decentrees orientables. Nous decrivons le modele cinematique et le modele dynamique qui regissent la plate-forme et nous effectuons son dimensionnement et sa conception a partir des resultats de simulation. L'analyse des performances de la plate-forme est realisee avec un asservissement de type proportionnel integral en vitesse. Les limites de cet asservissement nous conduisent au developpement et a l'implantation d'une commande dynamique. Les resultats montrent la complexite de la commande due aux choix technologiques realises. Nous proposons des solutions en vue d'ameliorer les performances de cette commande. Enfin, nous proposons et implantons deux methodes de commande cartesienne. Les resultats obtenus montrent une tres nette amelioration des performances en suivi de trajectoire. Enfin, nous proposons des perspectives d'utilisation de ce type de plate-forme dans l'industrie.
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2

Six, Damien. "Conception et commande de robots parallèles volants". Thesis, Ecole centrale de Nantes, 2018. http://www.theses.fr/2018ECDN0046/document.

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Abstract (sommario):
La manipulation aérienne est l’un des défis de la robotique au cours de cette dernière décennie. L’un des freins au développement des manipulateurs aériens est l’autonomie limitée des drones, réduite par la charge et la consommation électrique du manipulateur embarqué. Une solution pour dépasser cette limite passe par la collaboration de plusieurs drones dans une tâche de manipulation. Cette thèse porte sur la conception et la commande d’un nouveau type de véhicule autonome aérien destiné à la manipulation. Le concept consiste à faire collaborer plusieurs drones, en particulier des quadricoptères, au travers d’une architecture passive polyarticulée. Le robot ainsi obtenu est une fusion entre l’architecture passive d’un robot parallèle et plusieurs drones. L’étude du modèle dynamique de cette classe de robots met en avant un découplage dans le modèle dynamique. Ce découplage permet la conception d’une commande en cascade qui assure la stabilisation et le suivi de trajectoire pour ces robots. Deux cas d’étude sont ensuite déclinés dans cette thèse : un robot parallèle volant à deux drones et un robot parallèle volant à trois drones. Pour ces deux robots, une simulation numérique est effectuée afin de valider le fonctionnement de la commande. Ces simulations ont également permis de valider la possibilité de changer la configuration de l’architecture passive en vol. Les travaux ont été portés avec succès jusqu’au stade expérimental pour le robot volant à deux drones
Aerial manipulation is one of the challenges of robotics over the last decade. One of the constraints on the development of aerial manipulators is the limited autonomy of drones, reduced by the load and energy consumption of the on-board manipulator. One way to overcome this limit is to have several drones collaborate on a manipulation task. This thesis deals with the design and control of a new type of autonomous aerial vehicle for manipulation tasks. The concept consists in the collaboration of several drones, in particular quadrotors, through a polyarticulated passive architecture. The robot thus obtained is a fusion between the passive architecture of a parallel robot and several drones. The study of the dynamic model of this robot class highlights a decoupling in the dynamic model. This decoupling allows the design of a cascade control law. This controller provides stabilization and trajectory tracking for these robots. Two study cases are then presented in this thesis: a flying parallel robot with two drones and a flying parallel robot with three drones. For these two robots, a numerical simulation is performed to validate the controller performances. These simulations also allowed to validate the reconfiguration abilities of passive architecture in flight. The work was successfully carried to the experimental stage for the flying robot with two drones
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Lamy, Xavier. "Conception d'une Interface de Pilotage d'un Cobot". Phd thesis, Université Pierre et Marie Curie - Paris VI, 2011. http://tel.archives-ouvertes.fr/tel-00748986.

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Abstract (sommario):
Dans le contexte industriel actuel, il existe encore un grand nombre de tâches pénibles qui ne peuvent pas être automatisées, et où le geste humain reste indispensable. L'introduction d'une assistance robotique peut alors être envisagée pour réduire les efforts que l'opérateur doit fournir, et ainsi éviter l'occurrence de troubles musculosquelettiques. En permettant à l'opérateur de manipuler conjointement un outil (ou objet) porté par le robot, il est possible envisager une collaboration sous forme de compensation de gravité, d'augmentation d'effort ou de réalisation de guides virtuels. Les robots industriels peuvent être des candidats pertinents pour ce type de collaboration, car leurs qualités mécaniques sont particulièrement complémentaires à celles de l'homme : ils sont notamment optimisés pour avoir une grande force, rigidité et précision absolue. Cependant les frottements dans les articulations et l'inertie importante de ces robots s'opposent à une interaction physique avec l'opérateur fluide et légère. L'utilisation d'un capteur d'effort au niveau de l'effecteur et d'une boucle d'effort est donc incontournable. On montre que la stabilité d'un système ainsi asservi dépend alors fortement de l'impédance mécanique qu'oppose la main de l'opérateur lorsqu'il manipule l'effecteur du robot. Nous appuierons notre étude sur une modélisation du robot capable de prendre en compte une flexibilité structurelle entre l'actionneur et la mesure d'effort, qui est à l'origine des limites de stabilité. Afin de résoudre le compromis performance/stabilité très contraignant qui en découle, nous proposons une loi de commande en impédance prenant en compte les caractéristiques de la prise de main sur une poignée d'interaction spécialement conçue. Pour caractériser la prise de main, il nous a été nécessaire de développer un capteur capable de cartographier la pression appliquée sur la surface arrondie de la poignée. Nous détaillons l'architecture et le fonctionnement d'un tel capteur, et montrons qu'il peut aussi être employé pour recouvrir le corps du robot. Nous proposons ainsi une solution pour assurer la sécurité de l'utilisateur vis-à-vis des autres parties mobiles du robot, peu sensibles aux interactions physiques avec l'opérateur ou avec son environnement. Nous complétons notre étude en considérant une interaction tripartite où le robot amplifie les efforts que l'opérateur applique sur l'outil. En adaptant les outils théoriques communément employés dans le domaine de la téléopération, nous menons une étude approfondie sur les limites de stabilité et de performances de ce dispositif. L'ensemble de ces travaux reposent sur des développements théoriques appuyés par des expérimentations sur un robot industriel réel.
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Liu, Shaoming. "Etude et conception de petits robots industriels : réalisation du robot miniature <> /". [S.l.] : [s.n.], 1991. http://library.epfl.ch/theses/?nr=888.

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5

Nouaille, Laurence. "Démarche de conception de robots médicaux : application à un robot de télé-échographie". Thesis, Orléans, 2009. http://www.theses.fr/2009ORLE2046/document.

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Abstract (sommario):
A partir de la conception d’un robot pour une application médicale particulière de télé-échographie, une démarche de conception générique de robots médicaux est proposée. L’étude se décompose en deux phases : la synthèse topologique et la synthèse dimensionnelle. La première est effectuée pour toutes applications médicales à partir de connaissances capitalisées dans un catalogue de robots médicaux réalisé au préalable. La synthèse dimensionnelle est établie pour un robot de télé-échographie. Une nouvelle structure cinématique de poignet sphérique série permettant de rejeter la singularité aux frontières de l’espace de travail est proposée. Après avoir réalisé une analyse cinématique validant le concept, plusieurs optimisations multi-critères sont effectuées selon des critères de performances cinématiques (manipulabilité, dextérité) et d’encombrement (compacité). Une comparaison de l’influence des indices de performance sur l’optimisation est réalisée. Le concept pour l’application de télé-échographie choisi et dimensionné, une démarche de conception préliminaire à l’aide de l’outil CAO est présentée. Une phase de conception collaborative avec des designers est menée afin d’améliorer l’ergonomie, la compacité et l’esthétique du robot. L’association des étapes de synthèses et de conception préliminaire a conduit à la proposition d’une démarche de conception de robots médicaux
From the design of a tele-echography robot for a specific medical application, a generic methodology for medical robots design is proposed. The study is presented in two parts: a topological synthesis and a dimensional one. The first is made for all medical applications, from a medical robots catalogue built beforehand. The second synthesis is established for a tele-echography robot. A new spherical kinematic structure permitting to reject singularities to the boundaries of the workspace is proposed. After having validated this concept from a kinematic point of view, several multi-criteria optimisations are realised according to kinematic indices (manipulability, dexterity) and bulkiness (compactness). A comparison of indices influence on optimisations is carried out. The concept for teleechography robot chosen and dimensioned, a process of embodiment design with CAD tool is presented. A collaborative design phase with designers is led to improve ergonomics, compactness and aesthetic of the robot. The association of synthesis steps and embodiment design lead to propose a process of medical robots design
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Audet, Julien Mathieu. "Conception et validation expérimentale d’un système mécatronique pour la manipulation intuitive de composantes lourdes". Master's thesis, Université Laval, 2020. http://hdl.handle.net/20.500.11794/66710.

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Abstract (sommario):
Ce mémoire présente la conception et la validation expérimentale d'un système mécatronique visant à faciliter la manipulation de composantes lourdes dans des situations industrielles d'assemblage, par exemple l'assemblage de panneaux de fuselage d'avion. Le principe de la redondance sous-actionnée est utilisé pour que l'interaction entre l'opérateur humain et le robot soit sécuritaire, intuitive et réactive, tout en permettant une charge utile relativement élevée. Ce principe consiste à utiliser un mécanisme passif à basse impédance couplé à un système actif avec la charge utile à manipuler directement attachée à l'effecteur du mécanisme passif. Lors du fonctionnement du dispositif, l'opérateur humain manipule directement la charge utile et induit ainsi des mouvements dans le mécanisme passif. Les variations mesurées dans les articulations passives sont ensuite utilisées pour contrôler les articulations actives à haute impédance du robot. Dans les travaux réalisés antérieurement, le principe a été appliqué aux mouvements translationnels. Le but de ce mémoire est donc d'appliquer le principe de la redondance sous-actionnée aux mouvements rotatifs a n d'orienter une charge utile dans l'espace tridimensionnel. Tout d'abord, le principe est appliqué à un manipulateur plan à un degré de liberté pour évaluer la validité du concept pour les mouvements rotatifs. Ensuite, il est appliqué à un manipulateur spatial à deux degrés de liberté. Des contrepoids actifs sont utilisés pour équilibrer statiquement les deux manipulateurs. Il est à noter que le dernier mouvement rotatif n'est pas étudié puisqu'il est facile à implémenter ; l'équilibrage statique n'étant pas requis pour la rotation autour de l'axe vertical. Finalement, le système rotatif obtenu précédemment est combiné avec un système translationnel existant dans le but de manipuler librement une charge utile dans l'espace à six dimensions. Les validations expérimentales sont présentées pour montrer que le manipulateur est intuitif, réactif et sécuritaire pour l'opérateur humain.
This Master's thesis presents the design and experimental validation of a mechatronic system aimed at facilitating the handling of heavy components in industrial assembly situations, for example the assembly of aircraft fuselage panels. The principle of underactuated redundancy is used to make the interaction between the human operator and the robot safe, intuitive and responsive, while allowing a relatively high payload. This principle consists in using a low-impedance passive mechanism paired with an active system with a payload directly attached to the passive mechanism's end e ector. In the operation of the device, the human operator directly manipulates the payload and thereby induces movements in the passive mechanism. The measured joint variables in the passive mechanism are then used to control the high-impedance active joints of the robot. In previous works, the principle of underactuated redundancy has been applied to translational movements. The aim of this Master's thesis is therefore to apply the principle of underactuated redundancy to rotations in order to rotate a payload in three-dimensional space. First, the principle is applied to a one-degree-of-freedom planar manipulator in order to evaluate the validity of the concept for rotational motions. Then, it is applied to a two-degree-of-freedom spatial manipulator. Active counterweights are used to statically balance the two manipulators. It should be noted that the last rotational motion is not studied since it is easy to implement; static balancing is not required for the rotation around the vertical axis. Subsequently, the rotational system obtained previously is combined with an existing translational system with the objective of freely manipulating a payload in six-dimensional space. The experimental validations are presented to show that the manipulator is safe, intuitive and responsive for the human operator.
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7

Sans, Mariano. "Étude dynamique et aide à la conception d'un robot mobile à pattes". Toulouse, ENSAE, 1986. http://www.theses.fr/1986ESAE0002.

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8

Rey, Laurent Edouard. "Environnement pour la conception de commandes de robots /". [S.l.] : [s.n.], 1997. http://library.epfl.ch/theses/?nr=1663.

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9

Pierrot, François. "Robots pleinement parallèles légers : conception, modélisation et commande". Montpellier 2, 1991. http://www.theses.fr/1991MON20060.

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Abstract (sommario):
Dans un premier temps, une synthese critique de l'etat de l'art est presentee. Les robots pleinement paralleles legers etant definis, leurs modelisations geometriques puis dynamique sont developpees. La methodologie utilisee conduit a une faible complexite des calculs, compatibles avec la commande en temps reel a haute vitesse. Des experimentations sur un site reel (robot delta) sont ensuite decrites. Enfin, de nouvelles architectures de robots, adaptees aux mouvements rapides, sont proposees
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10

Blanchet, Laurent. "Contribution à la modélisation de robots à câbles pour leur commande et leur conception". Thesis, Nice, 2015. http://www.theses.fr/2015NICE4021/document.

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Abstract (sommario):
Les robots à câbles (CDPRs) se présentent comme une nouvelle classe de robots parallèles. Ces robots, décrits par l'architecture RRPS des hexapodes, utilisent des câbles enroulés pour leurs jambes plutôt que les chaînes d'éléments rigides des robots parallèles classiques. Cette technologie est dépendante des câbles, donc sujette à l'unilatéralité des efforts exercés par les câbles sur la plate-forme, l'élasticité, ou bien l'affaissement dû à la flexibilité et à la masse. Dans un premier temps nous revisitons la modélisation de ce type de robot, en particulier pour le comportement de type chaînette élastique, approprié pour les robots de grandes dimensions. Dans un second temps nous traitons de la détection de collision, et ce aussi bien entre les câbles, qu'avec et entre les objets que sont la plate-forme et d'éventuels obstacles. S'agissant d'une problématique de sûreté, la détection se doit d'être garantie face aux incertitudes et face à la forme complexe des câbles. Elle est déclinée pour le modèle RRPS et le modèle chaînette élastique. L'analyse par intervalles est utilisée pour traiter les incertitudes, et les objets sont munis de définitions hiérarchiques. Enfin, nous aborderons un processus de conception, qui a pour objectif de répondre au besoin exprimé par une application. À cette fin, il cherche l'ensemble des valeurs des paramètres d'un modèle générique de CDPR, permettant de satisfaire un ensemble de contraintes. Ces paramètres sont toutefois soumis à leurs propres incertitudes. Aussi, on assure la faisabilité de la conception en garantissant et la validité de tous les robots possibles donnés par les intervalles de solutions, et la largeur minimale
Cable-Driven Parallel Robots form a new class of parallel robots. Those robots, described by the RRPS architecture of hexapods, use coiled cables for their legs instead of rigid element chains of classical parallel robots. This technology is subject to the specifics of cables, particularly the unilateral aspect of the forces exerted by the cables on the platform, the elasticity, the sagging caused by the flexibility and the mass of the cables. We start by revisiting the model of those robots. We do so by considering the elastic catenary behavior of the cables, suitable for large dimension robots. Then we handle interference detection of such a robot, which concern just as much interference between cables, than with and between objects. Said objects are the platform and arbitrary obstacles. Being a safety matter, interference detection must be guaranteed in front of uncertainties and of the complex shapes of the cables. The detection scheme is issued for the RRPS model and the elastic catenary one. Interval analysis methods are used to deal with uncertainties; hierarchic definitions are used for objects. Lastly, we deal with a design process for those robots. This process aims at fitting a robot that satisfy the expressed needs of a given application. To this end, the process looks for the set of values of parameters of a CDPR generic model. Those values allow the resulting robot to satisfy a set of constraints. Those parameters are subject to their own uncertainties. We guarantee the practical usability of the design both by guaranteeing the suitability of all possible robots given by the intervals of the solutions for the parameters, and with minimal widths
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Libri sul tema "Conception de robots"

1

Dawson, Michael Robert William. From bricks to brains: The embodied cognitive science of LEGO robots. Edmonton: AU Press, 2010.

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2

Conrad, James M. Stiquito: Advanced experiments with a simple and inexpensive robot. Los Alamitos, Calif: IEEE Computer Society Press, 1998.

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Conrad, James M. Stiquito: Advanced experiments with a simple and inexpensive robot. Los Alamitos, CA: IEEE Computer Society Press, 1997.

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4

Ecole Polytechnique Federal de Lausanne. Dept. of Microtechnique, a cura di. Conception d'un robot parallele rapide a 4 degrM Na-Me de libertM-"N". Lausanne, Switzerland: Ecole Polytechnique Federal de Lausanne, Dept. of Microtechnique, 1991.

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Chen, Shengyong. Active Sensor Planning for Multiview Vision Tasks. Berlin, Heidelberg: Springer-Verlag Berlin Heidelberg, 2008.

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6

George, Ellis. Control system design guide: Using your computer to develop and diagnose feedback controllers. San Diego: Academic Press, 1991.

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7

Ljubo, Vlacic, Institution of Electrical Engineers e Knovel (Firm), a cura di. Motion vision: Design of compact motion sensing solutions for autonomous systems navigation. London: Institution of Electrical Engineers, 2005.

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Ljubo, Vlacic, e Institution of Electrical Engineers, a cura di. Motion vision: Design of compact motion sensing solutions for autonomous systems navigation. London: Institution of Electrical Engineers, 2005.

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9

Bergren, Charles M. Anatomy of a Robot (TAB Robotics). McGraw-Hill/TAB Electronics, 2003.

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Snyder, Wesley E. Industrial Robots: Computer Interfacing and Control. Pearson Education, Limited, 1985.

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Capitoli di libri sul tema "Conception de robots"

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Szollosy, Michael. "Why Are We Afraid of Robots? The Role of Projection in the Popular Conception of Robots". In Topics in Intelligent Engineering and Informatics, 121–31. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-09668-1_9.

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Zhao, Zhihui, Wei Zhu e Ning Xia. "Conception and Prospects of Exploration and Mining Robots on Lunar Base". In Lecture Notes in Electrical Engineering, 137–45. Singapore: Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-19-3387-5_16.

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Dong, Gang, Yimin Song e Tao Sun. "Type Synthesis of Planar Parallel Mechanism Incorporating Actuated Limb with Zero/One Constraint with Set Conception". In Advances in Reconfigurable Mechanisms and Robots I, 177–88. London: Springer London, 2012. http://dx.doi.org/10.1007/978-1-4471-4141-9_17.

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Szkoła, Jarosław, e Krzysztof Pancerz. "Petri Nets over Ontological Graphs: Conception and Application for Modelling Tasks of Robots". In Rough Sets, 207–14. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-60837-2_17.

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Sargsyan, Karine. "Future of Families". In Future of Business and Finance, 147–66. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-36382-5_13.

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AbstractThe generally accepted standard conception of the family today tends to look like this: a man and a woman (greater acceptance if same race, same religion, and similar age), hopefully with a sound mind and a strong body, are getting married (mainly in a publicly staged spectacle called wedding). How will the family change in the future? What about multigenerational families or families without children? How will the concept of family change? Are marriages with robots and the artificial upbringing of children the future? Will traditional values still exist, and how will the perception of “family” change in the foreseeable future? And what about marriages of love and marriages of convenience?
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Ušinskis, Vygantas, Nikolaj Šešok, Tadas Rasimavičius, Dominykas Čičiurėnas, Muhammad Zulkifal e Vytautas Bučinskas. "Conception of the Channel Robot Navigation". In Lecture Notes in Networks and Systems, 192–205. Cham: Springer Nature Switzerland, 2024. https://doi.org/10.1007/978-3-031-78266-4_17.

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Mohan, Shimona. "Passive Ambitions, Active Limitations: Defence AI in India". In Contributions to Security and Defence Studies, 445–63. Cham: Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-58649-1_20.

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AbstractIndia has been known by its ‘IT hub’ moniker for a while now and has sought to replicate this success in AI as well. However, while India has seen numerous knee-jerk developments and concentrated efforts around AI, it still has a hazy conception of how to establish a well-oiled AI ecosystem. Moreover, while civilian AI is still promoted through a whole-of-government approach, military AI is still comparatively much less prioritized despite India’s uniquely hostile neighbourhood and technologically advanced adversaries. In the last 5 years or so, India has established a few dedicated military AI bodies and unveiled several AI products for defence, either at the level of the tri-services or military R&D centrally – these include LAWS, robots, drones, radars, identification and recognition systems, translators, and monitoring and predictive systems. Despite these strides, the lack of institutionalization, incentivization, funding, upgradation and coordinated activity around military AI poses specific limitations to how efficiently India’s military AI ambitions are being realized. These restrictions are interestingly juxtaposed against India’s current focus on the indigenization of its defence technology production as it partners more vociferously with a diverse set of allies. If it intends to constructively work towards the grand ambitions it must become a military AI power, India needs to ensure that it looks at AI as the highly diversified technology it is, instead of the siloed approach it has adopted with respect to AI development, deployment and governance so far.
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Osiński, Dymitr, Marcin Zaczyk e Danuta Jasińska-Choromańska. "Conception of Turning Module for Orthotic Robot". In Advanced Mechatronics Solutions, 147–52. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-23923-1_22.

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Jasiński, Marcin, Jędrzej Mączak, Stanisław Radkowski, Sebastian Korczak, Roman Rogacki, Jarosław Mac e Jan Szczepaniak. "Autonomous Agricultural Robot—Conception of Inertial Navigation System". In Challenges in Automation, Robotics and Measurement Techniques, 669–79. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-29357-8_58.

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Jianfei, Chen, e Wang Xingsong. "Conception of a Tendon-Sheath and Pneumatic System Driven Soft Rescue Robot". In Advances in Intelligent Systems and Computing, 475–81. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-16841-8_43.

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Atti di convegni sul tema "Conception de robots"

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Benotsmane, Rabab, László Dudás e György Kovács. "Collaborating robots in industry 4.0 conception". In MultiScience - XXXII. microCAD International Multidisciplinary Scientific Conference. University of Miskolc, 2018. http://dx.doi.org/10.26649/musci.2018.025.

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Glauser, D., P. Flury, N. Villotte e C. W. Burckhardt. "Conception of a robot dedicated to neurosurgical operations". In Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments. IEEE, 1991. http://dx.doi.org/10.1109/icar.1991.240559.

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3

Rosario, J. M., R. Pegoraro, H. Ferasoli e D. Dumur. "Conception of Wheeled Mobile Robots with Reconfigurable Control using Integrate Prototyping". In 2006 IEEE Conference on Robotics, Automation and Mechatronics. IEEE, 2006. http://dx.doi.org/10.1109/ramech.2006.252700.

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4

Vossoughi, Golamreza, Hodjat Pendar, Zoya Heidari e Saman Mohammadi. "Conception and Dynamic Modeling of an Assisted Passive Snake-Like Robot Using Gibbs-Appell Method". In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-85008.

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In this paper we present a novel planar structure of a snake-like robot. This structure enables passive locomotion in snake-like robots through an auxiliary link in joint and a torsional spring. Dynamic equations are derived, using Gibbs-Appell method. Kinematic model of the robot include numerous non-holonomic constraints, which can be omitted at the beginning by choosing proper coordinates to describe the model in Gibbs-Appell framework. In such a case, dynamic equations will be significantly simplified, resulting in significant reduction of simulation time. Simulation results show that, by proper selecting initial conditions, joint angles operate in a limit cycle and robot can locomote steadily on a passive trajectory. It can be seen that the passive trajectory is approximately a Serpenoid curve.
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Cukla, Anselmo Rafael, Rafael Crespo Izquierdo, Eduardo André Perondi, Mario Roland Sobczyk, Flavio José Lorini e José Barata. "Trajectory Planning Based on Firefly Metaheuristic Algorithm Applied to Pneumatically Driven Modular Robots". In 9th FPNI Ph.D. Symposium on Fluid Power. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/fpni2016-1556.

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One of the main goals of modern manufacturing systems lies in attaining more flexibility and reutilization capabilities with lower costs. This paper presents the development of a proposal for the design and development of mechatronic modules to use on the mounting of robot manipulators based on the concept of “agent”, which is largely employed in informatics systems. We first describe the main features of this research project, after focusing on its current development stage, which regards the conception of a general methodology for trajectory planning of modular robotic systems. The proposed solution is evaluated and validated by means of a case study focused on robots with pneumatic actuators. In this case study, the structure of a modular pneumatic Cartesian robot and its main characteristics (kinematic chain, workspace, etc.) is developed under modular agent concepts. Using a proposed task to be performed by the manipulator, a working path is defined by means of cubic spline interpolation curves, and an objective function for the optimization problem is written so as to minimize the movement time between the beginning and the end of the trajectory. The proposed optimization problem is numerically solved based on the use of the Firefly Metaheuristic Algorithm and, finally, the trajectory planning curves obtained by means of this strategy are presented and discussed.
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Stiehm, Sebastian, Larissa Köttgen, Sebastian Thelen, Mario Weisskopf, Florian Welter, Anja Richert, Ingrid Isenhardt e Sabina Jeschke. "Blended Learning Through Integrating Lego Mindstorms NXT Robots in Engineering Education". In ASME 2015 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/imece2015-51641.

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The current program for Mechanical Engineering at the RWTH Aachen University in Germany has more than 1500 students enrolled. Lego Mindstorms’ NXT Robots are fully integrated in the current Engineering Education stream to help students practically apply theoretical concepts. The courses Communication and Organizational Development (KOE) and Computer Science in Mechanical Engineering 1 (INFO1), provided by the interdisciplinary institute cluster IMA/ZLW, follow a newly-designed “blended learning” approach. This institute cluster is composed of the Institute of Information Management in Mechanical Engineering (IMA) and the Center for Learning and Knowledge Management (ZLW). These institutes are currently within the Faculty of Mechanical Engineering at RWTH Aachen University. Two years ago, the course KOE was redesigned and redirected towards a “Flipped Classroom” concept by initiating online lectures and a discussion class. Thus, the tutorial class ROBOFLEX as part of the KOE curriculum is introduced. ROBOFLEX is a two-stage business simulation that enables students to experience realistic virtual communication within computer science and engineering disciplines. Students are divided into groups of about thirty people, and become entrepreneurs and founders of start-ups that specialize in the production of innovative robots for the automotive industry. They create these robots using Lego Mindstorms’ NXT. Since its conception, the course INFO1 has been accompanied by a lab component, where students apply the concepts taught in class in a team-focused software design project. In 2011, the lab concept was changed into a two-stage robotics programming project based on Lego Mindstorms’ NXT Robots and the Java programming language. In the first stage, students practice the fundamental programming concepts that are presented in the lecture by completing a series of exercises in a self-paced manner. The second stage focuses on applied problem-solving. In this stage, pairs of students apply the previously-learned programming concepts to program a “pick-and-place” robot that is equipped with various sensors. The integration of Lego Mindstorms’ NXT Robots into these courses also join the concepts of the two described courses. While KOE delivers organizational and communicational skills, INFO1 provides technical and domain-specific skills. Here, the robots represent the connecting element. The problem-based second stage of INFO1 benefits from the skills that are taught in KOE. Because INFO1 is scheduled in the term following the KOE, it offers a direct opportunity for students to transfer the KOE skill set from the lecture where it was taught into a new context that is primarily concerned with a different subject. Both classes have been evaluated and developed independently in the past. Since last year’s introduction of ROBOFLEX in KOE, synergies between both lectures are becoming a main component of their further developments. In this paper the recent developments in both courses will be compared and discussed. Specific measurable effects concerning learning capability, motivation and learning endurance are being portrayed by using blended learning approaches.
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Rodríguez, Carlos, José Luis Guzmán, Manuel Berenguel, José Carlos Moreno, Francisco Rodríguez e Sebastián Dormido. "Robótica móvil para el aprendizaje de conceptos de programación en tiempo real". In Actas de las XXXVII Jornadas de Automática 7, 8 y 9 de septiembre de 2016, Madrid. Universidade da Coruña, Servizo de Publicacións, 2022. http://dx.doi.org/10.17979/spudc.9788497498081.0821.

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La enseñanza de asignaturas de programación en tiempo real puede resultar una difícil tarea debido a los múltiples conceptos teóricos que contiene. Este trabajo se centra en el uso de robots móviles tipo Lego Mindstorms NXT para la enseñanza de programación en tiempo real a estudiantes de grado. Como caso de estudio para mostrar la metodología de trabajo, se muestra el problema de control de estabilidad en tiempo real de un robot autobalanceado regulado mediante un controlador PI desarrollado en el lenguaje de programación Ada. En general, se obtuvieron críticas muy positivas en el cuestionario presentado a los estudiantes.
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Villotte, Glauser, Flury e Burckhardt. "Conception Of Stereotactic Instruments For The Neurosurgical Robot Minerva". In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE, 1992. http://dx.doi.org/10.1109/iembs.1992.594728.

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Villotte, N., D. Glauser, P. Flury e C. W. Burckardt. "Conception of stereotactic instruments for the neurosurgical robot minerva". In 1992 14th Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE, 1992. http://dx.doi.org/10.1109/iembs.1992.5761367.

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Chen-xu, Li, Yang Ping e Yang Ming-ying. "Conception of Parallel Intelligent Military System". In CACRE2019: 2019 4th International Conference on Automation, Control and Robotics Engineering. New York, NY, USA: ACM, 2019. http://dx.doi.org/10.1145/3351917.3351965.

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Rapporti di organizzazioni sul tema "Conception de robots"

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Desarrollo de un robot seguidor de línea y un robot luchador de sumo, mediante la aplicación de conceptos de programación, microcontroladores y tecnología mecánica. Escuela Tecnológica Instituto Técnico Central, 2013. http://dx.doi.org/10.55411/2023.48.

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Dentro del currículo del programa técnico en mecatrónica se encuentran materias que aparentemente no tienen ninguna relación con el tema de robótica. Siendo esto un imaginario inicial que tiene el estudiante al no tener la oportunidad de comprender la diversa interrelación que existe entre las diferentes áreas. Los robots seguidores de línea y luchadores de sumo, que pertenecen a la rama de la robótica móvil, basan su destreza y funcionamiento en factores corno el control. La estructura de soporte y el tipo de actuadores utilizados. Su construcción se encuentra orientada a la participación en concursos y con fines netamente didácticos.
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La innovación organizativa como palanca de transformación de la Pyme. Universidad de Deusto, 2016. http://dx.doi.org/10.18543/mjca6717.

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Estamos inmersos en un entorno convulso marcado por la incertidumbre. Dicha incertidumbre surge por la intersección de tres factores: los efectos adversos de una recesión económica, la inmersión en la cuarta revolución tecnológica, y la globalización de los mercados. La crisis se ha dejado sentir especialmente en indicadores de carácter social. La evolución de la tasa de desempleo, y especialmente el desempleo juvenil son particularmente desfavorables. La CAPV no ha sido ajena a este tsunami económico, y la economía vasca ha mostrado ciertas debilidades en la generación y mantenimiento del empleo, con recursos humanos que no están siendo aprovechados. Robots inteligentes y drones, impresoras en 3D, vehículos sin conductor, macrodatos, producción inteligente, tecnología financiera y cadena de bloques (blockchain): la cuarta revolución industrial ha llegado, como ya se confirmó en el Foro Económico Mundial (Davos, 2016). Dicha revolución urge a las empresas implantar nuevas tecnologías productivas que implican nuevas inversiones, una adaptación de sus actuales infraestructuras, y lo más importante, una capacitación de su capital humano para integrar y explotar la nueva tecnología de una manera adecuada. Asimismo, la competitividad ha evolucionado hacia un concepto global. Las industrias evolucionan de una manera muy dinámica, las capacidades competitivas son transitorias, y cuando surge una ventana de oportunidad esta es rápidamente identificada y explorada por diferentes competidores. No tiene sentido competir de manera local, las empresas luchan por conseguir clientes en nuevos mercados emergentes, fidelizar a los consumidores de los mercados actuales, y/o adquirir ventajas en coste mediante la deslocalización de sus sistemas productivos en países en desarrollo. Este nuevo escenario promueve un desfase entre innovación tecnológica e innovación social, y genera desequilibrios socioeconómicos, dejando en evidencia las deficiencias de las formas tradicionales de organización. Es necesario un cambio de valores, hacia un tejido empresarial socioeconómicamente sostenible, que garantice la supervivencia de la empresa en el largo plazo. Y esto implica una apuesta firme por el desarrollo de capital humano y social.
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