Étude des propriétés vibratoires d'un système robotique en opération de meulage par modélisation multi-corps flexibles

A compact 6 DOF robot dedicated to in-situ repairs of hydroelectric equipment is studied in this paper. Since this multitasking tool is designed to work in confined spaces and in harsh conditions, it is subject to flexible-links and flexible-joints. This paper presents the numerical modelling of the robot during a grinding process. This work is focused on the non-linear characteristics of flexible- joints and the elastic deformation of flexible-links. The robot can thus be studied on its vibration modes and the trajectory of its end-effector during the machining. Mots clefs : meulage robotise, joints et membrures flexibles, vibration, reducteur harmonique, elements-finis