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AIR2, un robot parallèle à actionnement pneumatique à deuxdegrés de liberté pour les applications de prise et dépose d’objets

Published online by Cambridge University Press:  20 July 2011

Lotfi Chikh ,
Cédric Baradat ,
Philippe Poignet ,
François Pierrot  and
Micaël Michelin
Lotfi Chikh*
Affiliation:
TECNALIA, Cap Omega, Rd-Pt B. Franklin, 34960 Montpellier, France
Cédric Baradat
Affiliation:
TECNALIA, Cap Omega, Rd-Pt B. Franklin, 34960 Montpellier, France
Philippe Poignet
Affiliation:
LIRMM, Département de Robotique, 161 rue Ada, 34095 Montpellier, France
François Pierrot
Affiliation:
LIRMM, Département de Robotique, 161 rue Ada, 34095 Montpellier, France
Micaël Michelin
Affiliation:
TECNALIA, Cap Omega, Rd-Pt B. Franklin, 34960 Montpellier, France
*
a Auteur pour correspondance :[email protected]
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Abstract

Un prototype de robot parallèle actionné pneumatiquement à deux degrés de liberté a étédéveloppé afin de rendre accessible aux petites et moyennes entreprises la robotisation detâches qui nécessiteraient le déplacement de charges de 5 à 20 kg en utilisant des vérinsstandards moins onéreux que les moteurs électriques. Après une présentation de lastructure mécanique du robot ainsi que les modèles de ses actionneurs, la stratégie decommande innovante (commande prédictive généralisée avec boucle interne de force $\mathbb{H}_{\inf}$) est introduite, puis les résultats obtenus expérimentalement sontprésentés et analysés.

Keywords

Robot parallèlepneumatiquecommandeParallel roboticspneumatic actuatorsmodeling
Type
Research Article
Information
Mechanics & Industry , Volume 12 , Issue 3: CFM 2011 , 2011 , pp. 239 - 243
Copyright
© AFM, EDP Sciences 2011

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References

Références

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