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Communication Dans Un Congrès Année : 2017

Elastostatic Modelling of a Wooden Parallel Robot

Lila Kaci
  • Fonction : Auteur
  • PersonId : 981493
Clément Boudaud
Philippe Martinet

Résumé

Eco-design of industrial robots is a field of research which has been rarely explored in the past. In order to considerably decrease the environmental impact of robot during the design phase, metal or carbon composite parts can be replaced by bio-sourced materials, such as wood. Indeed, wood has interesting mechanical properties, but its performance / dimensions will vary with the atmospheric conditions / external solicitations and with the conditions in which trees have grown. In order to be able to design a stiff industrial robot, robust design approaches must be used. These approaches must be fed with elastostatic models that are able to predict the variability in the robot deformations due to the variability of the wood mechanical properties. In this paper, we develop an elastostatic model for a wooden parallel robot which is able to cope with the variations of the wood mechanical properties. The prediction of this model in terms of deformations are compared with experimental measurements made on a wooden parallel robot mockup. Results show that there is a good correlation between the measurement displacements and the computed ones.
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Dates et versions

hal-01479412 , version 1 (24-06-2019)

Identifiants

  • HAL Id : hal-01479412 , version 1

Citer

Lila Kaci, Clément Boudaud, Sébastien Briot, Philippe Martinet. Elastostatic Modelling of a Wooden Parallel Robot. 7th IFToMM International Workshop on Computational Kinematics (CK2017), May 2017, Poitiers, France. ⟨hal-01479412⟩
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