FR3112981B1 - Robot configurable par déformation de sous-robots autonomes et synchronisés - Google Patents

Robot configurable par déformation de sous-robots autonomes et synchronisés Download PDF

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Publication number
FR3112981B1
FR3112981B1 FR2008075A FR2008075A FR3112981B1 FR 3112981 B1 FR3112981 B1 FR 3112981B1 FR 2008075 A FR2008075 A FR 2008075A FR 2008075 A FR2008075 A FR 2008075A FR 3112981 B1 FR3112981 B1 FR 3112981B1
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FR
France
Prior art keywords
robot
sub
couplers
robots
actuators
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR2008075A
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English (en)
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FR3112981A1 (fr
Inventor
Stephane Delalande
Benoit Piranda
Julien Bourgeois
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Universite de Franche-Comte
PSA Automobiles SA
Original Assignee
Universite de Franche-Comte
PSA Automobiles SA
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Application filed by Universite de Franche-Comte, PSA Automobiles SA filed Critical Universite de Franche-Comte
Priority to FR2008075A priority Critical patent/FR3112981B1/fr
Publication of FR3112981A1 publication Critical patent/FR3112981A1/fr
Application granted granted Critical
Publication of FR3112981B1 publication Critical patent/FR3112981B1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/1617—Cellular, reconfigurable manipulator, e.g. cebot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40302—Dynamically reconfigurable robot, adapt structure to tasks, cellular robot, cebot
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40304—Modular structure

Abstract

Un robot configurable (RC) comprend des sous-robots (SR1-SR2) déformables et comprenant chacun : - des coupleurs (C1, C2) se couplant temporairement à un autre coupleur (C2, C1) d’un autre sous-robot (SR2, SR1) en cas d’activation, - des actionneurs (A1, A2) liés à au moins deux coupleurs (C1, C2) et à extension variable pour faire varier les positions spatiales de ces derniers, et - une partie centrale (PC) comportant un calculateur (CA) contrôlant les extensions successives des actionneurs (A1, A2) et les activations/désactivations successives des coupleurs (C1, C2) de façon synchronisée avec le calculateur (CA) de l’autre sous-robot (SR2, SR1) afin de permettre un déplacement relatif du sous-robot (SR1, SR2) par rapport à cet autre sous-robot (SR2, SR1) entre des positions initiale et finale, et une batterie (B) alimentant en énergie électrique le calculateur (CA), les coupleurs (C1, C2) et les actionneurs (A1, A2). Figure à publier avec l’abrégé : Fig. 2
FR2008075A 2020-07-30 2020-07-30 Robot configurable par déformation de sous-robots autonomes et synchronisés Active FR3112981B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR2008075A FR3112981B1 (fr) 2020-07-30 2020-07-30 Robot configurable par déformation de sous-robots autonomes et synchronisés

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2008075 2020-07-30
FR2008075A FR3112981B1 (fr) 2020-07-30 2020-07-30 Robot configurable par déformation de sous-robots autonomes et synchronisés

Publications (2)

Publication Number Publication Date
FR3112981A1 FR3112981A1 (fr) 2022-02-04
FR3112981B1 true FR3112981B1 (fr) 2022-11-11

Family

ID=74045545

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2008075A Active FR3112981B1 (fr) 2020-07-30 2020-07-30 Robot configurable par déformation de sous-robots autonomes et synchronisés

Country Status (1)

Country Link
FR (1) FR3112981B1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3136393A1 (fr) * 2022-06-11 2023-12-15 Universite De Franche-Comte Micro-robot programmable et assemblage de tels micro-robots formant une structure tridimensionnelle modulable

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2287045B (en) * 1994-03-04 1997-05-14 Joseph Michael Programmable materials
JP2826635B2 (ja) * 1996-10-08 1998-11-18 工業技術院長 三次元構造物の自動組立体
US6233503B1 (en) * 1998-10-16 2001-05-15 Xerox Corporation Space filling robotic polyhedra modules
US6568869B1 (en) * 1999-11-09 2003-05-27 Agency Of Industrial Science & Technology Three dimensional universal unit for movable structure
US7787990B2 (en) * 2003-01-15 2010-08-31 Andrzej Pietrzyk System of three-dimensional multipurpose elements and the method for creating three-dimensional multipurpose elements
US8234950B1 (en) * 2008-02-08 2012-08-07 University Of Southern California Homogeneous and single-side-operational connector mechanism for self-reconfigurable, self-assembly and self-healing systems
CN107283427B (zh) 2017-08-16 2020-06-02 北华航天工业学院 变胞并联机构

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Publication number Publication date
FR3112981A1 (fr) 2022-02-04

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