HIGH RESOLUTION AND LARGE WORKSPACE MANIPULATOR

par Vinayak Kalas (Vinayak)

Projet de thèse en SYAM - Systèmes Automatiques et Micro-Électroniques

Sous la direction de François Pierrot et de Sébastien Krut.

Thèses en préparation à Montpellier , dans le cadre de École Doctorale Information, Structures, Systèmes (Montpellier ; 2015) , en partenariat avec Laboratoire d'Informatique, Robotique et Micro-électronique de Montpellier (laboratoire) et de Département Robotique (equipe de recherche) depuis le 16-03-2017 .


  • Résumé

    Thesis Problematics The practical goal is to set the position and orientation in space of an effector with high resolution on a large workspace. Such a problem can be illustrated considering the radio receiver of a spherical antenna. In such application, the spherical mirror is fixed. Thus pointing towards a star in the sky consists in moving optimally the focal point (the receiver) and adjusting the receiver's orientation. In the current state of development, there are essentially machines with high resolution OR with large workspace. This is explained by the antagonist characteristics between these two features. The work in this thesis should help overcoming this limitation by designing a machine capable of fulfilling both requirements simultaneously. Foreseen strategy to bridge the gap is redundancy: actuation redundancy, kinematic redundancy, measurement redundancy and structural redundancy (hyperstatics). Foreseen Solution: Design of an improved Gough/Stewart platform (hexapod).

  • Titre traduit

    HIGH RESOLUTION AND LARGE WORKSPACE MANIPULATOR


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