| Title: |
Design process of high dynamics multi-link flexible robot manipulators |
| Authors: |
Solatges, Thomas; Rognant, Mathieu; Rubrecht, Sébastien; Courteille, Eric; Bidaud, Philippe |
| Contributors: |
ONERA; Laboratoire de Génie Civil et Génie Mécanique (LGCGM); Université de Rennes (UR)-Institut National des Sciences Appliquées - Rennes (INSA Rennes); Institut National des Sciences Appliquées (INSA)-Institut National des Sciences Appliquées (INSA); Ministère de l'Economie, du Redressement Productif et du Numérique; 132906095, DGA, Division of Grants and Agreements |
| Source: |
ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017 ; https://univ-rennes.hal.science/hal-01671672 ; ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017, Aug 2017, Cleveland, OH, United States. ⟨10.1115/DETC2017-67721⟩ |
| Publisher Information: |
HAL CCSD |
| Publication Year: |
2017 |
| Collection: |
Université de Rennes 1: Publications scientifiques (HAL) |
| Subject Terms: |
Design; Flexible manipulators; Manipulators; Modeling tool; Multi-link flexible robots; Performance indicators; Machine design; Flexible robots; Design process; Control architecture; Robots; Robot applications; High dynamic; [SPI.AUTO]Engineering Sciences [physics]/Automatic; [SPI.MECA.GEME]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Mechanical engineering [physics.class-ph] |
| Subject Geographic: |
Cleveland; OH; United States |
| Description: |
International audience ; This paper presents a design process based on an advanced flexible robots modeling tool associated with realistic actuators models and pre-defined control architecture. This process implements dedicated feasibility and performance indicators, which are used to evaluate a design and its sensitivity on the considered parameters. The proposed approach is illustrated with theoretical and experimental results obtained with the YAKA robot. |
| Document Type: |
conference object |
| Language: |
English |
| DOI: |
10.1115/DETC2017-67721 |
| Availability: |
https://univ-rennes.hal.science/hal-01671672; https://univ-rennes.hal.science/hal-01671672v1/document; https://univ-rennes.hal.science/hal-01671672v1/file/solatges2017.pdf; https://doi.org/10.1115/DETC2017-67721 |
| Rights: |
info:eu-repo/semantics/OpenAccess |
| Accession Number: |
edsbas.89545E8B |
| Database: |
BASE |