Design of an Accurate and Stiff Wooden Industrial Robot: First Steps towards Robot Eco-sustainable Mechanical Design - Archive ouverte HAL Accéder directement au contenu
Article Dans Une Revue Journal of Mechanisms and Robotics Année : 2020

Design of an Accurate and Stiff Wooden Industrial Robot: First Steps towards Robot Eco-sustainable Mechanical Design

Résumé

This paper investigates the feasibility of replacing metal robot links by wooden bodies for eco-sustainable design's purpose. Wood is a material with low environmental impact, and a good mass-to-stiffness ratio. However, it has significant dimensional and mechanical variabilities. This is an issue for industrial robots that must be accurate and stiff. To guarantee stiffness and accuracy performance of a wooden robot, we propose an integrated design process combining (i) proper wood selection, (ii) adequate sensor-based control strategies to ensure robot accuracy and (iii) a robust design approach dealing with wood uncertainties. Based on the use of this integrated design process, a prototype of a wooden five-bar mechanism is designed and manufactured. Experimental results show that it is realistic to design a wooden robot with performance compatible with Industry requirements in terms of stiffness (deformations lower than 400 microns for 20 N loads) and accuracy (repeatabil-ity lower than 60 microns), guaranteed in a workspace of 800 mm × 200 mm. These works provide a first step towards the eco-sustainable mechanical design of robots.
Fichier principal
Vignette du fichier
JMR-19-1526.pdf (1.49 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-02849680 , version 1 (05-11-2020)

Identifiants

Citer

Sébastien Briot, Lila Kaci, Clément Boudaud, David Llevat-Pamiès, Pauline Lafoux, et al.. Design of an Accurate and Stiff Wooden Industrial Robot: First Steps towards Robot Eco-sustainable Mechanical Design. Journal of Mechanisms and Robotics, 2020, 12 (5), pp.051015-1 -- 051015-14. ⟨10.1115/1.4047726⟩. ⟨hal-02849680⟩
90 Consultations
254 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More