Design process of high dynamics multi-link flexible robot manipulators

Abstract : This paper presents a design process based on an advanced flexible robots modeling tool associated with realistic actuators models and pre-defined control architecture. This process implements dedicated feasibility and performance indicators, which are used to evaluate a design and its sensitivity on the considered parameters. The proposed approach is illustrated with theoretical and experimental results obtained with the YAKA robot.
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Thomas Solatges, Mathieu Rognant, Sébastien Rubrecht, Eric Courteille, Philippe Bidaud. Design process of high dynamics multi-link flexible robot manipulators. ASME 2017 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2017, Aug 2017, Cleveland, OH, United States. ⟨10.1115/DETC2017-67721⟩. ⟨hal-01671672⟩

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