Simulation dynamique d'une main robotique sous-actionnée

Abstract

Ce mémoire traite de simulations dynamiques de la main robotique sous-actionnée SARAH réalisées à l'aide du logiciel ADAMS. En effet, la main SARAH est considérée comme un outil potentiel pour le robot Dextre sur la station spatiale internationale et le développement d'un modèle dynamique de la main et du robot dans un environnement virtuel est nécessaire à la planification des tâches. Dans un premier temps, les modèles dynamiques de la main robotique SARAH sont contruits selon une approche étape par étape. De même, des simulations sont effectuées afin d'établir des relations entre différents paramètres. Par la suite, le comportement du robot Dextre est ajouté aux modèles de SARAH. En effet, à l'aide de capteurs de force et de momerts localisés à l'organe terminal, les bras de Dextre réagissent en se déplaçant afin de minimiser les efforts mesurés. Finalement, plusieurs tâches sont simulées. La principale est la préhension d'une poignée habituellement réservée aux astronautes afin d'aider la stabilisation du robot Dextre.

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This thesis deals with dynamic simulations of the under-actuated robotic hand SARAH carried out using the ADAMS software. Indeed, the SARAH hand is considered as a potential tool for the Dextre robot on the International Space Station and the development of a dynamic model of the hand and the robot in a virtual environment is necessary for task planning. First, the dynamic models of the SARAH robotic hand are built using a step-by-step approach. Similarly, simulations are carried out in order to establish relationships between different parameters. Subsequently, the behavior of the Dextre robot is added to the SARAH models. Indeed, with the help of force sensors and momerts located at the terminal organ, Dextre's arms react by moving in order to minimize the efforts measured. Finally, several tasks are simulated. The main one is the gripping of a handle usually reserved for astronauts in order to help stabilize the Dextre robot.