Contribution à l'amélioration de la précision des robots parallèles

Un des enjeux actuels de la recherche sur les robots paralleles est de concilier grandes capacites dynamiques et bonne precision. Les travaux presentes dans cette these contribuent a la resolution de cette problematique. Trois approches ont ete considerees : l'etalonnage geometrique a partir de mesures externes, l'utilisation de la redondance metrologique et enfin l'application du principe de mesure dissociee. Tout d'abord, l'etalonnage geometrique classique d'un robot Delta lineaire puis du premier prototype du robot Par4 sont presentes. Cette methode, bien qu'efficace dans le cas de problemes quasi-statiques, s'avere insuffisante lorsque des efforts appliques sur la structure du robot entrainent des deformations de celui-ci. Le cas des robots paralleles a redondance d'actionnement presente ainsi la particularite d'etre difficile a etalonner car des contraintes internes peuvent apparaitre dans ces mecanismes et deformer leur structure. C'est pourquoi une methode pour transformer la redondance d'actionnement en redondance cinematique a ete proposee. La redondance metrologique a egalement ete etudiee et plusieurs methodes tirant profit de cette redondance ont ete analysees et testees. Enfin, le concept de dissociation entre l'actionnement et la mesure est introduit. Ce concept, novateur en robotique parallele, repose sur la separation entre la transmission du mouvement et des efforts et la mesure de l'etat du robot. Ce concept a ete applique sur une machine-outil a architecture parallele et un prototype a ete realise. Des lois de commande ont ete testees et les resultats en termes d'amelioration de la precision sont presentes.

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