RAPHy

The ambition of this project is to develop a new parallel robot architecture that can be moved for machining and drilling tasks on large parts or assemblies in the aeronautical and naval fields. This architecture must meet the requirements of stiffness but also lightness to minimize the energy consumption necessary to move it. With this objective, the project's originality is to focus on robots with over_constrained parallel architecture; this type of architecture makes it possible to reduce the weight of the mobile elements while offering high stiffness performance. The design of industrializable OPKMs involves transversal and innovative work in scientific topics such as mechanism synthesis, over-constrained mechanism tolerancing and modeling of the robot architecture behavior loaded by forces induced by hyperstatism. The challenge is to control the behavior and manufacturing cost of this kind of robot with regard to weight and energy consumption benefit. Work will be carried out on validating the choice of architecture for robotic machining. It will consist of comparing the performance of different robots with proposed architectures. This work should make it possible to define tools and simple formalisms allowing the analysis of the behavior of over-constrained mechanisms. In parallel, work will be carried out on the definition and quantification of the element tolerancing of over-constrained parallel architecture robot. They should make it possible to propose an elasto-geometric model integrating the assembly and manufacturing defects of the architecture of the robot. This work will lead to a compromise between the size of the tolerance intervals (and therefore the cost) and the stiffness at the tool tip. This project will lead to the design and manufacture of a prototype.