Master Thesis Online
Kinematic and Dynamic Modeling of a Delta Robot on SAMCEFMECANO
Kamanke, Rodrigue Edgard 
Promotor(s) :
Bruls, Olivier
Date of defense : 25-Jun-2020/26-Jun-2020 • Permalink : http://hdl.handle.net/2268.2/9019
Report(1).pdfDetails
| Title : | Kinematic and Dynamic Modeling of a Delta Robot on SAMCEFMECANO |
| Author : | Kamanke, Rodrigue Edgard
|
| Date of defense : | 25-Jun-2020/26-Jun-2020 |
| Advisor(s) : | Bruls, Olivier
|
| Committee's member(s) : | Duysinx, Pierre
Collette, Christophe
Lismonde, Arthur
|
| Language : | English |
| Number of pages : | 59 |
| Keywords : | [en] kinematics [en] dynamics [en] robotics [en] model identification [en] multibody modeling [en] multibody mechanics [en] Delta robot [en] feedfoward [en] control [en] Samcef [en] Mecano |
| Discipline(s) : | Engineering, computing & technology > Mechanical engineering |
| Research unit : | The Multibody and Mechatronic Systems Laboratory of University of Liège. |
| Name of the research project : | Trajectory planning of 3D flexible robots |
| Target public : | Researchers Professionals of domain Student |
| Institution(s) : | Université de Liège, Liège, Belgique |
| Degree: | Master en ingénieur civil mécanicien, à finalité spécialisée en génie mécanique |
| Faculty: | Master thesis of the Faculté des Sciences appliquées |
Abstract
[en] This work enters in the scheme of work at The Multibody and Mechatronic Systems Laboratory of the University of Liège, that aims at optimizing trajectory control by taking into account robot flexibility. A Delta robot ``ABB IRB 340'' will one of the subjects of this study. This work will focus on designing a ``Rigid Body Dynamic Model'' of this robot as a step towards the goals of the Multibody and Mechatronics Systems Laboratory.
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