Contribution à la mise en oeuvre et l'optimisation d'une cellule robotisée : application au parachèvement de pièces de fonderie

Le parachevement des pieces de fonderie de haute technicite est une tâche indispensable, realisee en grande partie manuellement, et vouee a disparaitre de par sa penibilite. Le travail presente concerne la mise en oeuvre industrielle d'une cellule robotisee de parachevement. Une premiere partie presente les contraintes liees au procede de fonderie sable et leurs impacts sur le parachevement. Le processus robotise comporte une phase d'usinage et de poncage associees a un recalage par vision. Un etat de l'art en regard de nos contraintes d'integration a conduit au choix d'un robot a structure parallele (Tricept) associe a deux axes supplementaires introduisant des redondances cinematiques. Sa mise en oeuvre vis-a-vis du processus a suivi une demarche en trois etapes : la modelisation analytique de la cellule obtenue par equivalent seriel, la formalisation des contraintes du processus et une resolution par optimisation multicriteres. Elle a necessite la definition de criteres d'optimisation specifiques (precision, cinematique, rigidite) et permet d'ameliorer le comportement de la cellule par la gestion des redondances cinematiques. La derniere partie presente la mise en production industrielle sur une piece de validation et l'outil d'optimisation developpe.

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