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At a glance

Research Institute in Communications and Cybernetics Dr. Sébastien BRIOT Full-time CNRS Researcher. At a glance. Nantes. Staff. Staff (January 2012). 270 members including * about 110 researchers, profs, ass. Prof. * 20 technical, administrative staff

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At a glance

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  1. Research Institute in Communications and Cybernetics Dr. Sébastien BRIOT Full-time CNRS Researcher At a glance Nantes

  2. Staff Staff (January 2012) 270 members including * about 110 researchers, profs, ass. Prof. * 20 technical, administrative staff * 140 PhD students, post-doc, visitors

  3. Image, Signal, Automatic, Control Mech. Systems and Industrial Automation Psychology, Cognition and Technology Production systems Robotics team 20 full-time researchers and professors 20 PhD students, 12 staff

  4. Research areas for the Robotic Team • 3 methodological areas • Modeling, Identification and Control • Design • Interaction and perception • 3 applicative areas • Industrial robotics • Bio-inspired robotics and humanoid robotics • Mobile robotics

  5. Modeling, Identification and Control • Historical expertise (1985) of the team • Large experience in dynamicmodeling (serial, parallel, flexible robots, etc.) • Identification of dynamicparameters • Inverse model based control • Optimal motion planning (industrial, humanoid, mobile robots) • Symoro+, Gecaro+

  6. Design • Design of robots with improved performances • Development of generic methodologies for analysis, evaluation and design • Conceptual design, robust design, control based design

  7. Perception and Interactions • Electric sense • Vision • Machine/human interaction

  8. Industrial robotics • Future industrial robots

  9. Humanoid and bio-inspired / mobile robots

  10. Design of New Robot Architectures Parallel Robots for Research and Industry

  11. Parallel Robots • Advantages • Acceleration / velocity • Stiffness • High Payload-to-weight ration • Drawbacks • Small workspace • Singularities • Complex control Sébastien Briot

  12. Parallel Robots at the IRCCyN • PAMINSA • Orthoglide • NaVaRo • IRSBot-2

  13. Sébastien Briot Manipulator with 4 DOF (Schoenflies motions) 3 pantograph legs PAMINSA: A Partially Decoupled Parallel Robot • Displacements in the horizontal plane: • W (G)= 0 z Displacements along the vertical axis z O y • Displacements along the vertical axis: • W (G) # 0 x Displacement in the horizontal plane xOy G  PAMINSA are based on these properties ( PArallel Manipulator of the I.N.S.A.)

  14. PAMINSA: Kinematics • Actuated joints (4 ddl) : • z: 1 linear actuator Mv • (xOy): 3 rotary actuators M1, M2,M3 • Decoupling of kinematics models : • Vertical translation: pantograph • Horizontal displacements: 3-RPR • Advantages of the architecture: • Simplified control laws (I/O: linear for the vertical movement) • Power decoupling • Increase of the accuracy for the vertical position (mechanical locking) • Decrease of the manufacturing cost (use of small power actuators) • Possible applications: • Displacement of heavy loads • Micromanipulation Sébastien Briot

  15. Sébastien Briot PAMINSA: Movie

  16. Sébastien Briot PAMINSA: the Family (patented) • Mechanisms with various DOF (from 3 to 6) • Mechanisms with various equivalent planar models • 3-RRR, 3-RPR, 3-PPR, 3-PRR, 3-PRP, 3-RRP, etc.

  17. Sébastien Briot PAMINSA: Experimental Validation 2 Cases : - trajectory without load- trajectory with a load of 20 kg

  18. Sébastien Briot PAMINSA: Experimental Validation k x 200N = 600 N

  19. Orthoglide: Kinematics • Parallel robot for milling • Delta-like robot with prismatic actuators • Isotropic • First prototype (research project) • 2 g of acceleration • Workspace: cube of edge length 20 cm

  20. Orthoglide: Video

  21. Orthoglide 5 axes (patented) • Addition of a parallel wrist • Pre-industrial prototype • Work still on-going • Discussion for a Mexican company for licences

  22. Sébastien Briot IRSBot-2: Introduction • T2 robots interesting for companies (high-speed) • Most of them => Based on a planar architecture • Lack of stiffness in the direction orthogonal to the displacement plane • Recently, in the LIRMM (France) • Proposition of a spatial architecture for T2 motions(Par2) • Have reach 53g of acceleration • Problem: complicated (4 legs, pulley-belt, S joints)

  23. Sébastien Briot IRSBot-2: Question • Possibility of creating a robot • Faster than the Pack-Drive • Simpler than the Par2 • IRSBot-2 (IRCCyN Spatial roBot with 2-DOF) • 2 legs • T2 motions • Patented

  24. Sébastien Briot IRSBot-2: Kinematics

  25. IRSBot-2: Results and future works • Benefits of such a robot have been demonstrated (simulation) • A company is currently discussing for buying licences • Future creation of a prototype (National project) • Type synthesis of all T2 robots: new architectures will be patented soon

  26. Other works • NaVaRo • Eel-like robot vertebras

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