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Faculté des Sciences appliquées
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Kinematic and Dynamic Modeling of a Delta Robot on SAMCEFMECANO

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Kamanke, Rodrigue Edgard ULiège
Promotor(s) : Bruls, Olivier ULiège
Date of defense : 25-Jun-2020/26-Jun-2020 • Permalink : http://hdl.handle.net/2268.2/9019
Details
Title : Kinematic and Dynamic Modeling of a Delta Robot on SAMCEFMECANO
Author : Kamanke, Rodrigue Edgard ULiège
Date of defense  : 25-Jun-2020/26-Jun-2020
Advisor(s) : Bruls, Olivier ULiège
Committee's member(s) : Duysinx, Pierre ULiège
Collette, Christophe ULiège
Lismonde, Arthur ULiège
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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  • Kamanke, Rodrigue Edgard ULiège Université de Liège > Master ing. civ. méc., à fin.

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  • Total number of views 64
  • Total number of downloads 13










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