Analyse et conception de mécanismes parallèles actionnés par câbles

Abstract

Ce mémoire présente d'abord les définitions de base, la cinématique et la dynamique des manipulateurs à câbles et explique leurs différences fondamentales par rapport, aux autres types d'actionnement conventionnels.

Ensuite, on étudie de façon analytique, avec une approche vectorielle, les équations reliées aux frontières de l'espace de travail de ces types de mécanismes. On traite les mécanismes à câbles pouvant comprendre des liens passifs dans les cas plans à 2 et 3 ddl et spatiaux à 3 et 6 ddl.

Par la, suite, on développe des méthodes numériques pour calculer des aires (cas 2d) ou volumes (cas 3d) des espaces atteignables. Finalement, on propose des critères d'optimisation et des modèles d'optimisation de mécanismes à câbles, lesquels permettent de présenter des exemples de mécanismes à câbles intéressants dans le cas bidimensionnel et tridimensionnel.

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This thesis first presents the basic definitions, kinematics and dynamics of cable manipulators and explains their fundamental differences compared to other types of conventional actuation.

Then, we study analytically, with a vectorial approach, the equations related to the boundaries of the workspace of these types of mechanisms. One treats the mechanisms with cables being able to include/understand passive links in the cases plans with 2 and 3 dof and space with 3 and 6 dof.

Subsequently, we develop numerical methods to calculate areas (2d case) or volumes (3d case) of reachable spaces. Finally, we propose optimization criteria and optimization models of cable mechanisms, which allow to present examples of interesting cable mechanisms in the two-dimensional and three-dimensional case.