Letteratura scientifica selezionata sul tema "Robot parallèles à câbles"
Cita una fonte nei formati APA, MLA, Chicago, Harvard e in molti altri stili
Consulta la lista di attuali articoli, libri, tesi, atti di convegni e altre fonti scientifiche attinenti al tema "Robot parallèles à câbles".
Accanto a ogni fonte nell'elenco di riferimenti c'è un pulsante "Aggiungi alla bibliografia". Premilo e genereremo automaticamente la citazione bibliografica dell'opera scelta nello stile citazionale di cui hai bisogno: APA, MLA, Harvard, Chicago, Vancouver ecc.
Puoi anche scaricare il testo completo della pubblicazione scientifica nel formato .pdf e leggere online l'abstract (il sommario) dell'opera se è presente nei metadati.
Articoli di riviste sul tema "Robot parallèles à câbles":
Nguyen, Tien-Thanh, Edouard Laroche, Loïc Cuvillon, Jacques Gangloff e Olivier Piccin. "Identification du modèle phénoménologique d'un robot parallèle à câbles". Journal Européen des Systèmes Automatisés 46, n. 6-7 (30 novembre 2012): 673–89. http://dx.doi.org/10.3166/jesa.46.673-689.
Tesi sul tema "Robot parallèles à câbles":
Weber, Xavier. "Commande modale de robots parallèles à câbles flexibles". Thesis, Strasbourg, 2016. http://www.theses.fr/2016STRAD026/document.
Cable-driven parallel robots use cables only to connect a fixed base to a mobile end-effector. Robot motion is obtained by winding the cables around pulleys to alter their length. Thus, cable-driven parallel robots are lightweight, can achieve very high dynamics and exhibit a very large workspace.Therefore, they are subject tp high magnitude and low frequency vibrations, because of their very low end-effector stiffness.This thesis proposes a novel approach for effective active damping of those vibrations.The dynamical model of a cable-driven parallel robot embedding reaction wheels is derived, lineraized around an equilibrium point and projected onto modal space, in which vibrations are decoupled.For each vibration mode, a control algorithm designed by poles placement adapted to the associated vibration natural frequency is applied for active vibration damping.Experiments conducted on a realistic simulation and two prototypes are presented to validate this approach
Chellal, Ryad. "Commande robuste des robots parallèles à câbles avec mesure extéroceptive". Thesis, Strasbourg, 2016. http://www.theses.fr/2016STRAD039/document.
This thesis presents a complete work on modelling, identification and control of cable-driven parallel robots in order to improve the dynamic performances in terms of speed, precision and robustness, while managing the problems related to the use of cables. In the context of these researches, the identification and control techniques are improved thanks to the use of exteroceptive sensors, in particular using vision. Methods from the fields of robotics and control are implemented and compared. The experimental validations are performed on a demonstrator available in the laboratory : an INCA 6D robot designed by Haption company, equipped with a Bonita motion capture system developed by Vicon company
Billette, Grégoire. "Robot parallèle à câbles simulant des contacts rigides". Thesis, Université Laval, 2010. http://www.theses.ulaval.ca/2010/26872/26872.pdf.
Gagliardini, Lorenzo. "Reconfigurations discrètes de robots parallèles à câbles". Thesis, Ecole centrale de Nantes, 2016. http://www.theses.fr/2016ECDN0002/document.
Cable-Driven Parallel Robots (CDPRs) are parallel robots whose legs consist of cables. CDPRs may be used successfully in several industrial applications such as sandblasting and painting of large and heavy structures.The first part of this manuscript is dedicated to the modelling of CDPRs. Two elasto-static models have been introduced in this manuscript, in order to describe the small displacement of the moving platform due to the non-rigid nature of the cables. These models can be used for the modal analysis of the CDPRs, as well. The elasto-static model based on linear cables has been computed including the effect of the pulleys orienting the cables into the CDPR workspace.The second part of this manuscript deals with the investigation of the workspace of CDPRs, in terms of their moving platform static and dynamic equilibria, and in terms of their moving platform kinematic constraints. Two novel workspaces have been defined: (i) the Twist Feasible Workspace (TFW); (ii) the Improved Dynamic Feasible Workspace (IDFW). The third part of this manuscript describes a generic design strategy for CDPRs and a novel design strategy for Reconfigurable Cable-Driven Parallel Robots (RCDPRs). In this manuscript, reconfigurations are limited to the thedisplacement of the cable exit points, assuming the cables exit points can be installed on a large but finite set of locations.The fourth part of this manuscript introduces an algorithm to compute an optimal reconfiguration strategy for RCDPRs. This strategy can be used when the working environment of the RCDPR is extremely cluttered and when it is not possible to predict how many configurations are necessary to complete the task. The effectiveness of the algorithm hasbeen analysed by means of a planar and a spatial casestudies reproducing some industrial tasks
Lesellier, Maximilien. "Conception, optimisation et commande d'un stablisateur actif pour la compensation des vibrations des robots parallèles à câbles". Thesis, Montpellier, 2019. http://www.theses.fr/2019MONTS004/document.
In this thesis, an active stabilizer is designed to be embedded on the platform of a Cable-Driven Parallel Robot (CDPR) and to damp vibrations affecting the platform by producing a wrench on it.First, a mechanical modeling of various active stabilization devices allows the choice of an appropriate solution for vibration damping. The selected solution consists of a stabilizer composed of rotating arms. Then, this model is used to optimize the stabilizer structure by looking at which arm arrangement maximizes the power delivered by the stabilizer to the CDPR mobile platform.A control strategy is then proposed for the system consisting of the CDPR mobile platform and the embedded active stabilizer. As this system consists of two parts operating at different time scales, the singular perturbation theory is used to prove the stability of the proposed control.Finally, simulation experiments make it possible to validate the use of an on-board active stabilizer to damp the vibrations of the mobile platform of a CDPR, and controlled with the control law proposed in this thesis
Bouchard, Samuel. "Géométrie des robots parallèles entraînés par des câbles". Thesis, Université Laval, 2008. http://www.theses.ulaval.ca/2008/25528/25528.pdf.
Zoso, Nathaniel. "Modélisation, simulation et commande d'un robot parallèle plan à câbles sous-actionné". Thesis, Université Laval, 2011. http://www.theses.ulaval.ca/2011/28611/28611.pdf.
Jabbari, Imed. "Commandes non linéaires sous contraintes pour les Robots Parallèles à Câbles". Electronic Thesis or Diss., Université de Lorraine, 2022. http://www.theses.fr/2022LORR0186.
This study concerns the control of nonlinear systems under constraints for parallel robots with cables. These have grown in popularity over the past twenty years. Indeed, cable robots have several advantages over rigid robots, namely a very large workspace, moving heavy loads with high speed and precision, low inertia, simple and fast reconfiguration, and finally low manufacturing cost. The applications are numerous: in the medical field, in biology, to study the behavior of insects in free flight, in port activities to move containers or for the construction of buildings.This type of system represents a major interest in the analysis and synthesis of dynamical systems. Indeed, cable robots, through their modeling, represent a large class of nonlinear electromechanical systems with the additional difficulty of solving an algebraic constraint on cable tensions. It is worth pointing out that the control of (free-end) robots has been largely addressed/solved by classical approaches using elegant solutions, the control of cable robots remains a difficult problem to solve given this constraint. There are few results, often local and heuristic with simplifying assumptions, but far from being a satisfactory solution.It is useful to remember that the main feature of cable robots is that the kinematic chains are not rigid segments, but made up of flexible cables. The latter are attached, at one end, to the mobile base (or terminal device in industrial parlance) and, at the other end, to an electric actuator/motor. This particularity introduces a strong constraint, unlike series robots with free ends, on the tensions of the cables which must belong to a given and positive range in order to avoid breaks or the formation of belly. Therefore, the issues related to the control of parallel robots with cables are not only to bring the robot from one point to another, to follow a trajectory, but also to satisfy these constraints.In this thesis, we answer this problem by proposing simple and effective control laws according to two different approaches:The first consists in developing a control law with convergence in finite time using the “sliding mode” method for a robot with eight motors (moving in 3D). Very few parameters are required to implement this technique, which still requires an optimization algorithm. Numerical simulations are promising and give very satisfactory results.The second approach is quite different and original, after some clever transformations, we write the dynamics of the error in a bilinear form then we establish a time control law varying under saturation constraints. By using a time-varying Lyapunov function, we demonstrate the exponential convergence of the tracking error. This result has been successfully applied to robots with four motors (2D) and then with eight motors (3D). It is important to emphasize that this approach, contrary to the literature, is freed from the use of optimization algorithms which can sometimes pose convergence problems.Finally, it is useful to emphasize that these results have been validated through several numerical simulations
Longval, Jordan. "Analyse de mécanismes parallèles translationnels suspendus entraînés par câbles". Master's thesis, Université Laval, 2019. http://hdl.handle.net/20.500.11794/36718.
Riehl, Nicolas. "Modélisation et design de robots parallèles à câbles de grande dimension". Thesis, Montpellier 2, 2011. http://www.theses.fr/2011MON20050/document.
Cable-driven robot is an original variation of parallel robots. Replacing rigid bodies by cables provides new capabilities to these robots, and particularly large-size workspaces, since long cable lengths can be deployed. In the literature, cables are usually supposed to be inextensible and massless. If this modeling is valid for small robots with moderate payloads, this cable model is not accurate enough to be used for large dimension cable-driven robots. The work presented here focuses on the modeling of such large cable robots. First, from a set of traction tests applied to various cables, elastic models are proposed. Then, the well-know elastic catenary model is recalled, and its effects on the modeling of large dimension cable robots is shown. However, when using this cable model, solving the platform static equilibrium require the resolution of a non-linear coupled equation system. Assuming a low sagging of the cable, some simplifications can be made to this model. The resulting simplified hefty cable model is then presented and the new expression of the static equilibrium is shown to be close to the one obtained with the massless cable model. Thus, it allows us to determine the set of admissible mobile platform wrenches at a given pose. By comparing this set to the set of required wrenches for a specific task a cost function is finally defined and used in a design procedure dedicated to large dimension cable-driven robots
Libri sul tema "Robot parallèles à câbles":
Hraiech, Safa El, e Zouhaier Affi. Contribution à la prédiction des erreurs des robots parallèles: Prédiction des limites d'erreur du robot translateur 3-UPU. Éditions universitaires européennes, 2022.