Design process of high dynamics multi-link flexible robot manipulators

Thomas Solatges , Mathieu Rognant (1) , Sébastien Rubrecht , Eric Courteille (2) , Philippe Bidaud (1)

1 ONERA
2 LGCGM - Laboratoire de Génie Civil et Génie Mécanique

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.

Keywords: Design; Flexible manipulators; Manipulators; Modeling tool; Multi-link flexible robots; Performance indicators; Machine design; Flexible robots; Design process; Control architecture; Robots; Robot applications; High dynamic

Domains: Engineering Sciences [physics]; Automatic; Engineering Sciences [physics]; Mechanics [physics.med-ph]; Mechanical engineering [physics.class-ph]

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⟩