Conception assistee par ordinateur d'architectures mecaniques robotiques planes

Abstract

Le travail presente dans ce memoire constitue une approche nouvelle dans le domaine de l'analyse cinematique de manipulateurs plans, qu'ils soient paralleles ou hybrides. Les outils que nous avons developpes portent sur l'etude des conventions de notation disponibles, sur la resolution des problemes geometriques direct (PGD) et inverse (PGI) et sur la determination de la matrice jacobienne s'appliquant uniquement aux variables actionnees. Pour le calcul de l'espace de travail, nous avons adapte la methode de Haug pour l'analyse de manipulateurs ayant un graphe topologique quelconque et nous avons developpe une methode d'expansion par vagues donnant la carte de dexterite. Ces outils s'appliquent a tout type d'architecture de robots plans paralleles ou hybrides. De facon a obtenir un algorithme general, les methodes de calcul sont numeriques. Les exemples traites attestent de la validite des outils developpes.

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The work presented in this dissertation constitutes a new approach in the field of kinematic analysis of plane manipulators, whether parallel or hybrid. The tools that we have developed relate to the study of the available notation conventions, to the resolution of direct (PGD) and inverse (PGI) geometric problems and to the determination of the Jacobian matrix applying only to actuated variables. For the calculation of the workspace, we adapted Haug's method for the analysis of manipulators having any topological graph and we developed a wave expansion method giving the dexterity map. These tools apply to any type of parallel or hybrid planar robot architecture. In order to obtain a general algorithm, the calculation methods are numerical. The examples covered attest to the validity of the tools developed.