Benjamin MAUZE : "Triskèle-Bot -Study et Development of a Parallel continuum robot for micro-positioning

PhD works of Benjamin MAUZE : "Triskèle-Bot : Study et Development of a Parallel continuum robot for micro-positioning"

Abstract : Parallel Continuum Robots (PCR) are new structures that present great interest in terms of workspace or miniaturization, but they are not known for their precision. This thesis studies the potential of RPCs for high precision positioning requiring a consequent workspace. For this purpose, a new concept of planar RPC with 3 degrees of freedom called Triskèle-Bot, composed of a mobile platform and three flexible continuously deformable limbs driven by linear actuators, is proposed. To study its behavior, direct and inverse geometric models are created by a numerical resolution of a system of non-linear partial derivative equations (based on a Kirchhoff beam model) constrained to boundary conditions. A prototype is built to validate these models while offering intrinsic repeatability and an innovative way to measure the intrinsic and extrinsic parameters of the robot. A vision measurement protocol is proposed to minimize the numerous sources of uncertainty inherent to the microscopic scale, and thus obtain measurements of poses with less than ten nanometers of uncertainties. This protocol is used to experimentally measure the repeatability of the Triskele-Bot which reaches 9.13 nanometers in position and 0.71 microradians in orientation. A study of the robot’s accuracy, resulting from an original strategy of calibration, is performed on several trajectories exhibiting values lower than 4 micrometers and 0.6 milliradians. All these results demonstrate the potential of PCR for micro-positioning applications.

Jury Composition :

Cédric CLEVY, Maître de conférences, Université Bourgogne - Franche-Comté, PhD Director

Yassine HADDAB, Professeur des Universités, Université de Montpellier, Reporter

Christine PRELLE, Professeur des Universités, Université de Technologie de Compiègne, Reporter

Christian DURIEZ, Directeur de recherche, INRIA Lille, Reviewer

Michaël GAUTHIER, Directeur de recherche, CNRS, Reviewer

Pierre RENAUD, Professeur des Universités, INSA Strasbourg, Reviewer

Redwan DAHMOUCHE, Maître de conférences, Université Bourgogne Franche-Comté, PhD director

Guillaume LAURENT, Maître de conférences, ENSMM, Co-PhD Director

Localization :Amphithéâtre Jules Haag (visio) ENSMM - 26, Rue de l'Epitaphe - 25030 Besançon Cedex France