Matériaux composites à renfort végétal pour l'amélioration des performances de systèmes robotiques

Improvement of the robot’s performances is a major challenge in the industrial field. In general, improvement objectives are increasing workspace, transportable capacity, speed and precision of the robot. To achieve these objectives, it must increase rigidity, reduce weight and increase damping capacity of the robot. Currently, the robots are generally made of metals: aluminum or steel, which limits their performances due to low damping capacity of these materials.Composite materials present an advantage to combine different materials, which leads to a variety of composite material properties. Among the types of reinforcements, carbon fibers show high modulus that enables robotic parts with high static rigidities to be designed. However, carbon fibers have generally a low damping capacity. Natural fibers have low density, good specific properties and high damping capacity.This thesis focuses on the improvement of the performances of the 3CRS parallel robot by using the composite material to redesign robot parts initially made of aluminum. The thesis begins with static and dynamic characterizations of the original robot. Then, the shape of segments of the robotic arms is optimized with respect to applying force on the robot. A hybrid laminated composite reinforced with carbon fibers and flax fibers is proposed for the use. This combination enables to combine the advantages of two fiber types in a composite for using in high loaded components. The structure of the new hybrid laminated composite is optimized and a composite segment is then fabricated in order to validate the design. Finally, the analysis of the new robot with composite arms is executed. The result shows that the new robot has a slightly higher rigidity, lighter mass and considerably greater damping capacity in comparison with the original robot. Therefore, the application of the hybrid composite could improve the static and dynamic performances and increases considerably the accuracy in operation of the robot 3CRS.L’amélioration des performances des robots est un enjeu important dans le domaine industriel. Les objectifs visés sont l’augmentation de l’espace de travail, de la capacité de charge transportable, de la vitesse de travail et de la précision du robot. Pour atteindre ces objectifs, il faut en général augmenter la rigidité, diminuer la masse et augmenter la capacité d’amortissement du robot. Les robots actuels sont généralement fabriqués en métaux : aluminium ou acier, ce qui limite leurs performances en raison des faibles capacités d’amortissement des vibrations de ces matériaux. Les matériaux composites présentent l’avantage de combiner des matériaux différents, ce qui conduit à une variété de leurs performances. Parmi les types de renforts, les fibres de carbone présentent un module d’élasticité élevé permettant la conception de pièces de grandes rigidités statiques mais elles possèdent une faible capacité d’amortissement. Les fibres végétales, par contre, possèdent une faible densité, de bonnes propriétés spécifiques et des capacités d’amortissement élevées. Cette thèse porte sur l’amélioration des performances d’un robot parallèle 3CRS en utilisant des matériaux composites pour reconcevoir des pièces initialement fabriquées en aluminium. La thèse commence d’abord par une caractérisation des comportements statiques et dynamiques du robot initial constitué de bras en aluminium. Ensuite, la forme des segments des bras robotiques est optimisée par rapport aux sollicitations mécaniques sur le robot. Un nouveau composite stratifié hybride renforcé par des fibres de carbone et des fibres de lin est alors proposé. Cette combinaison permet d’allier les avantages des deux types de fibres dans un composite pour le dimensionnement des composants sous sollicitation élevée. La structure de ce nouveau composite a été optimisée puis un segment est fabriqué pour valider la conception. Finalement, l’étude du nouveau robot avec des bras en matériaux composites a été réalisée, les résultats montrent que la rigidité du robot augmente, sa masse diminue légèrement et sa capacité d’amortissement augmente considérablement par rapport au robot initial. Donc, l’application du composite stratifié hybride peut améliorer les performances statiques et dynamiques et augmenter significativement la précision en fonctionnement du robot 3CRS

Basis for the development of micro-parallel kinematic machines

[ES] El presente trabajo pretende sentar las bases del desarrollo de micromáquinas herramienta paralelas. Se plantean condiciones básicas y se propone un proceso de selección de configuraciones paralelas con miras a su implementación como micromáquinas herramienta. Con base en requerimientos e índices de desempeño se seleccionó una configuración paralela con todas las cualidades solicitadas para desempeñar tareas de micromecanizado. Se aborda con mayor detalle el proceso de selección para un caso de estudio donde 3 ejes traslacionales de movimiento son requeridos. Con base en el resultado del proceso de selección y en especificaciones de diseño, se construyó y se evaluó un prototipo de micromáquina herramienta paralela. El resultado de la investigación realizada muestra que es factible realizar tareas de micromecanizado con el prototipo de micromáquina herramienta paralela.[EN] This work aims to establish the development basis of parallel configurations based micromachine tools. Basic conditions are identified from typical micromachine tools in order to propose a selection process of parallel configurations with the aim to develop micro-parallel kinematic machines. Based on requirements and performance indices a 3DOF parallel configuration is selected. The selection process is applied for a case of study where 3 axes of movement are required. Based on previous results and specifications, a prototype of micro-parallel kinematic machine is built and evaluated. Through test analysis, the micro-parallel kinematic machine is proved to be feasible and applicable for micro-manufacturing.Se agradece a los coordinadores del grupo de Micromecánica y Mecatrónica del CCADET-UNAM, Dr. Leopoldo Ruiz Huerta y Dr. Alberto Caballero Ruiz, por sus valiosos comentarios y la oportunidad de desarrollar el trabajo de investigación con el apoyo de la DGEP-UNAM y los proyectos PAPIME PE105909 y CONACYT 60895.Yáñez Valdez, R. (2014). 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