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Theses

Design of Robot End-Effector for Collaborative Robot Works

Wanda Zhao 1, 2 
2 ReV - Robotique Et Vivant
LS2N - Laboratoire des Sciences du Numérique de Nantes
Abstract : This thesis focuses on the design of new versatile and compliant end-effectors for collaborative robot works, which are based on multi-segment dual-triangle tensegrity mechanisms that can be actuated independently to achieve the desired configuration with the required stiffness properties. Different with the conventional rigid robot end-effectors, it was demonstrated from the stiffness analysis that such type of mechanism can achieve high flexibility; designers can evaluate the stiffness sensitivity of this mechanism with respect to an arbitrary initial configuration for different combination of the geometric parameters, external loading and the spring’s pre-stresses. Besides, the buckling and quasi-buckling phenomenon of this serial mechanism under the loading were detected. And an analytical method allowing to compute the critical force causing the buckling for this serial structure withan arbitrary number of segments was proposed, which is based on the eigenvalue analysis of the some special matrix depending on both geometric and elastostatic parameters. This allows designers to predict or avoid the dangerous states of this mechanism by properly changing the geometric parameters and control inputs. Furthermore, the optimization-based kinematic control strategies were proposed in this thesis, which allow this redundant multi-segment mechanism to achieve the target endpoint location and avoid collisions between not only the mechanism end-point but also the mechanism body and the workspace obstacles. The advantages of the developed technique are confirmed via the computing simulation, and the results show that this redundant serial mechanism has a very flexible shape changing capacity while passing through the task space.
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Submitted on : Tuesday, August 9, 2022 - 8:48:13 AM
Last modification on : Tuesday, September 27, 2022 - 10:07:39 AM

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  • HAL Id : tel-03747941, version 1

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Wanda Zhao. Design of Robot End-Effector for Collaborative Robot Works. Robotics [cs.RO]. Ecole Centrale Nantes, 2021. English. ⟨tel-03747941⟩

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