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RoManSy 6 pp 535-541 | Cite as

Repositioning-Unit for very Fine and Accurate Displacements. Analysis and Design

  • F. Artigue
  • C. François
  • J. G. Pontnau

Abstract

Displacement and orientation of work pieces in space are the typical tasks for which industrial robots are well suited. Nevertheless these robots, which consist generally of several rigid bodies connected sequentially by revolute or prismatic points, are mainly designed to perform large scale displacements. In the same way as they are built according to different coordinate structures (i.e. cartesian, cylindrical, spherical or articulated) the analysis of the task planning may be a criterion for the choice of the suitable robot architecture. The SCARA robot is a typical example of this choice. On the contrary, when task planning needs,eds small amplitude displacements, high positioning accuracy and high resolution, commercially available robots with classical architecture have not the required performance. For instance, the superposition of moving joints leads to several drawbacks such as cumulation of backlash, too much bulk and robot control tricky to carry out. For these reasons, in the last few years, several laboratories have designed three dimensional displacement units which are better suited to perform fine and very accurate displacements (figure 1). Such units with various geometrical architectures have been designed and built at LIMBO laboratory (1)

Keywords

Work Piece Industrial Robot Assembly Operation Task Planning Linear Actuator 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

  1. [1]
    C. Francois et F.Artigue: “Module de repositionnement et capteur de déplacement tridimensionnels pour des robots d’assemblage dans l’hypothèse de petits déplacements”. Actes du 7 ème Congrès Français de Mécanique.l3ordeaux 1985.Google Scholar
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    J.C. Guinot et Bidault: “Etude d’un préhenseur articulé muni de sens tactile” Rapport CNRS Gréco A.R.A. Pole Mécanique et Technologique.Besançon. 1983.Google Scholar
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    J.F. Price :“LIE Groups and Compact Groups”.London Mathematical Society.Lecture Note,Serie 25.Cambridge University Press.Google Scholar
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    F.Artigue et C.Francois :“Assemblage par prise de référence” Journées A.R.A.Toulouse 1984.Google Scholar
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    F. Artigue : “Analyse cinématique de système de repositionnement et de mesure tridimensionnels pourl’assemblage automatique”.Thèse d’Etat,Université Paris V1.1984.Google Scholar

Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • F. Artigue
    • 1
  • C. François
    • 1
  • J. G. Pontnau
    • 1
  1. 1.Limro-I.U.T. de CachanUniversité de Paris-SudCachanFrance

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