Modelisation cinematique et conception de prehenseurs assistee par ordinateur

Abstract

Ce memoire traite de la conception des prehenseurs mecaniques simples et moyennement complexes. L'analyse cinematique des mecanismes de prehension y est presentee. Les resultats obtenus de cette analyse appliquee a plusieurs mecanismes servent par la suite de base au developpement d'un logiciel d'aide a la conception de prehenseurs robotiques. Enfin, la conception d'un prehenseur versatile a deux degres de liberte met ce logiciel a l'epreuve et fait valoir la contribution de celui-ci a l'optimisation des parametres de conception.

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This thesis deals with the design of simple and moderately complex mechanical grippers. The kinematic analysis of gripping mechanisms is presented. The results obtained from this analysis applied to several mechanisms then serve as a basis for the development of software to assist in the design of robotic grippers. Finally, the design of a versatile gripper with two degrees of freedom puts this software to the test and highlights its contribution to the optimization of design parameters.