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    • 专利摘要:
    The invention relates to a device (100) for the displacement and orientation in space of an effector platform (120), which device comprises: i. a plurality of cables (130) extending between a point of attachment (121) on the platform and an anchor (111, 112) connected to a fixed structure (110) in space, the positions of the anchors being not contained in the same plane; ii. a set of cables, said motor assembly, one end of each cable is attached to a motorized winch (111) for winding and unwinding of the cable on said winch; which device comprises: iii. a set of cables, said reconfigurable assembly, whose attachment points (121) or anchors (112) are adapted to be displaced relative to the platform (120) or in the structure (110) fixed. The invention also relates to a method for implementing such a device.
    公开号:FR3024956A1
    申请号:FR1457672
    申请日:2014-08-07
    公开日:2016-02-26
    发明作者:Alexis Girin；Lorenzo Gagliardini；Stephane Caro；Marc Gouttefarde
    申请人:Centre National de la Recherche Scientifique CNRS；Institut de Recherche Technologique Jules Verne；
    IPC主号:
    专利说明:

    [0001] The invention relates to a reconfigurable cable robot and a method for configuring such a robot. The invention is more particularly dedicated to the field of cable robots for performing interventions requiring complex trajectories that can not be achieved by means of anchor points arranged in a planar configuration. A cable robot is a parallel kinematic robot in which a platform is positioned and moved in space by means of cables acting on said platform. Each cable extends between a point of attachment on this platform and, for example, a winch fixed to a fixed structure, said winch constituting an anchor. The large capacity of variation of the cable length between the point of attachment and the anchorage makes it possible to obtain a particularly important platform working volume with a light structure easily put in place, for example in installing the anchors on the ceiling of a workshop. The stability of the platform in a given position is ensured by its static equilibrium, which equilibrium is achieved by the tension of the cables which act so as to oppose the external forces to which said platform is subjected. Thus, to ensure the stability of any position and orientation of the platform in space, a minimum of 7 cables are required. GB 2 495 958 discloses such a device. If such a robot of the prior art has a large work volume, a large part of this potential workload is limited by phenomena qualified in the broad sense of collisions. Thus, part of the work volume is not accessible according to some kinematics, because of a risk of collision, or interference, between the cables themselves. In addition, when an object is in the environment of the robot, there is a risk of collision between this object and cables along certain paths. Finally, some parts of the work volume are accessible in different configurations of the cables, but not all of them have the same stability of the platform. These collision phenomena are known in robotics but their resolution is much more complex in the case of a cable robot because, on the one hand, the largest volume covered, and above all, the need to distribute in intensity and in orientation the forces applied by the cables on the platform to ensure the stability thereof, each cable being able to act on said platform only in a direction and a direction corresponding to a tension of the cable, which introduces additional constraints. The stability of a particular pose, or posture, of the platform is defined by the ability of the device to resist a torsor with any components and applied to said platform, remaining within a permissible deformation range. In the case of a trajectory, the static equilibrium of the platform must be ensured in "each of the points" of the trajectory, that is to say in a continuous way. "On the Design of Adaptive Cable-Driven Systems," Rosati et al., Journal of Mechanisms and Robotics, Vol 3, May 2011, describes a method for optimizing the positioning of mobile anchors of a cable robot. , but remains limited to anchors contained and moving in a plane and does not take into account possible collisions with objects contained in the robot's workspace. The inventors have found that the method recommended in this document can not be used for determining an optimum configuration with respect to a trajectory, in the case of a device comprising a three-dimensional distribution of the anchors. Indeed, the method recommended in this document is based on a variational analytical expression of static equilibrium conditions, which in the case of a torsor whose components are three-dimensional is not feasible from the point of view of modeling. Furthermore, from a practical point of view, the implementation of the principles described in this document is not feasible or is difficult to achieve in the case of a three-dimensional distribution of the anchors. Indeed, the method recommended according to this document, consists in determining an anchor configuration adapted to a given situation and then moving said anchorages according to modalities that retain this configuration, which, in the plan, amounts to moving the anchors in circles . The three-dimensional extrapolation of the teachings of this document would be to predict the displacement of the anchors in spheres which is particularly complex and expensive to implement. The invention aims to solve the disadvantages of the prior art and concerns for this purpose a device for the displacement and orientation in space of a platform, supporting an effector which device comprises: i. a plurality of cables extending between a point of attachment on the platform and an anchor connected to a fixed structure in space, the positions of the anchors not being contained in the same plane; ii. a set of cables, said engine assembly, whose anchors include a motorized winch for winding and unwinding of the cable on said winch; Which device comprises: iii. a set of cables, said reconfigurable assembly, whose attachment points or anchors are able to be moved relative to the platform or in the fixed structure. Thus, the device which is the subject of the invention makes it possible, by the three-dimensional reconfiguration of the anchors of the reconfigurable assembly, to increase the volume of work out of collision. Throughout the text, the terms "bound" and "bond", applied to physical elements, define a mechanical connection of any type or type specified between said elements. The terms "fixed" or "fixation" define a complete mechanical connection between the material elements considered. The invention is advantageously implemented according to the embodiments described below which are to be considered individually or in any technically operative combination. Advantageously, the device which is the subject of the invention comprises: iv. anchors comprising a displacement capacity along an axis of rotation vis-à-vis the fixed structure. This possibility of orientation anchors offers an additional degree of freedom. According to a particular embodiment of the device object of the invention, it comprises: y. guide means and motorization and control means for moving an anchor of the reconfigurable assembly. Thus, the position of the anchors of the device is modifiable automatically.
    [0002] According to another particular embodiment of the device according to the invention, compatible with the previous one, it comprises: vi. motorization and control means for orienting an anchorage with respect to the fixed structure. Advantageously, the device according to the invention comprises: vii. a control director comprising a computer for controlling the motorization means of the motor assembly and the reconfigurable assembly; viii. programming means capable of interacting with the command director to program movements of the platform. Thus, the movements of the device of the invention and the reconfiguration of the anchors are programmable for carrying out a specific task.
    [0003] The device which is the subject of the invention is advantageously used for carrying out a stripping / painting operation of a large curved surface. The term "large surface area" refers to an area comprised in a volume of the order of 5 m3 or more. Under these conditions, the device which is the subject of the invention is advantageously used to support a pickling / painting effector or to support a robotic arm supporting such an effector. Thus, the device according to the invention makes it possible to automate these essentially manual operations according to the prior art. According to another advantageous use of the device which is the subject of the invention, it is used for carrying out an operation inside a large-scale structure, the anchors of said device being linked to structural elements in the form of interior of said structure. This mode of implementation makes it possible to install a robot capable of covering a large volume of work in a congested environment. The invention also relates to a method for determining the minimum configurations of the reconfigurable assembly of a device according to any one of the embodiments of the device according to the invention, in order to achieve a defined trajectory under conditions of static balance, which method comprises the steps of: a. obtain the hardware arrangement of the device; b. obtain the intended trajectory of the effector, discretized into segments of appropriate length; c. to obtain the torsor of the external forces applied to the platform at each point of said discretized trajectory; 3024956 5 d. obtain a discrete set of configurations, called initial configurations, of the reconfigurable assembly; e. analyzing for each starting configuration the ability to reach all segments of the path defined in step b) under the static equilibrium conditions as a function of the external actions defined in step c) and the hardware arrangement. obtained in step a) and eliminate the least promising starting configurations; f. determining among the remaining configurations of step e) the dominant configurations covering the path and including other configurations; g. group non-dominant configurations according to their coverage by dominant configurations; h. searching for the segments of trajectories, called singular segments, covered by a single dominant configuration, eliminating the configurations included in said dominant solutions that do not cover the singular segments; j. determining among the configurations remaining in step h) a minimum combination of configurations covering all the segments obtained in step b); 20 k. generate a trajectory realization program incorporating the configuration changes determined in step j), transmit said program to the control director of the device and perform the trajectory. Thus, the method which is the subject of the invention uses discrete representations of the devices and calculates a set of optimal solutions overlapping on this discrete set of solutions, thus avoiding the need to determine an analytical formulation of the problem. The sorting and sequential elimination of the initially defined configurations makes it possible to considerably reduce the combinability of the admissible configurations to tend towards an optimal set of configurations for a given application. Advantageously, step a) of the method which is the subject of the invention comprises the steps of: obtaining the number of cables of the device; aii. obtain the diameter of said cables; aiii. obtain the modulus of elasticity of said cables; aiv. obtain the maximum permissible voltage in said cables. ; 5 av. obtain the coordinates of a point of attachment in a reference linked to the platform. Thus, the configuration analysis performed in step e) takes into account, not only geometrical criteria, but also the elastic characteristics of the cables.
    [0004] Advantageously, step b) of the method which is the subject of the invention comprises the steps of: bi. obtaining a sequence of points defining a sequence of segments corresponding to the trajectory in a reference frame; bii. obtain the orientation of the platform corresponding to each point of the discretized trajectory This preparatory step makes it possible to define the conditions in which the stability and the absence of collisions are analyzed. Advantageously, step b) of the method which is the subject of the invention comprises a step of: biii. to obtain the limits of variation of the torsor of the external actions acting the platform of the device. Step e) is performed by checking at any time the static equilibrium of the platform and, if necessary, taking into account the positioning inaccuracy caused by the flexibility of the cables. The definition of a fixed variation range of the outer actions, corresponding to the extreme cases; simplifies calculations and limits their volume. According to a particular embodiment of the method which is the subject of the invention, it comprises, before step e), a step consisting of: I. obtaining the position, the shape and the orientation of an obstacle in the volume 30 of work of the device. and step e) comprises a crash test with said obstacle. According to an advantageous embodiment of the method which is the subject of the invention, that comprises before step d) a step consisting of: m. automatically generate a set of starting configurations for step d). This embodiment takes advantage of the reduction of the combinatorics provided by the tests and the sequential eliminations of the irrelevant configurations, to automatically generate a larger set of initial configurations and thus to obtain a wider field of search for an optimal sequence. configurations for performing the intended task. Advantageously, the method which is the subject of the invention comprises, after step e) if no promising solution is found, or after step j), if no combination of configurations makes it possible to cover the whole of the defined trajectory. in step b), the steps of: n. change the position or orientation of the obstacle in the work volume; o. resume in step e) with the new coordinates of the obstacle.
    [0005] Thus, the method according to the invention makes it possible, according to this embodiment, to optimize the placement of the elements of the work scene in the working volume of the device that is the subject of the invention. The invention is explained below according to its preferred embodiments, which are in no way limitative, and with reference to FIGS. 1 to 6 in which: FIG. 1 schematically represents in perspective view an embodiment of the object device of the invention; FIG. 2 symbolically shows a configuration of the device according to the invention in which the anchors are placed at the top of a parallelepiped, FIG. 2A, in a perspective view, FIG. 2B in a view from above; FIG. 3 diagrammatically represents the necessary trajectories in the working volume of the robot making it possible to work without colliding on a piece represented in a symbolic manner; - Figure 4shows symbolically a reconfiguration of the device 30 shown in Figure 2, Figure 4A, in a perspective view, Figure 4B in a view from above; FIG. 5 schematically illustrates an embodiment of the method according to the invention, FIG. 5A according to a logic diagram, and FIG. 5B according to a unidimensional and simplified illustration of the selection of the configurations; - And Figure 6 shows schematically in a front view, an example of implementation of a device object of the invention within a structure.
    [0006] Figure 1, according to a non-limiting embodiment, the device (100) object of the invention comprises a fixed structure (110) in the form of a gantry. A platform (120) is positioned, moved and held in position in said fixed structure (110) through a plurality of cables (130), here 8 cables according to this embodiment. The platform comprises mechanical means, power transmission and information for connecting an effector (not shown), which effector, according to an exemplary embodiment, is a robotic arm. Each cable (130) extends between a catcher (121) linking it to the platform (120) at one of its ends, and an anchor (111, 112) connected to the fixed structure (110). The cables are stretched between the catch and the anchor and each define a direction corresponding to the direction of the force applied by the cable to the deck. According to this embodiment, each cable (130) is said to be motor and is connected at its end opposite the end attached to the catch, to a winch (111), provided with motorization means. According to this embodiment, an anchorage is constituted by said winch (111) or by a pulley (112), able to perform a return in another direction of said cable. The length of the cables acting on the platform is controlled by a digital control director (150) and programming means (160) of this control director. This variation in length is obtained, according to an exemplary embodiment, by the winding and unwinding of the cables on the winches (111), so as to move the platform and permanently ensure the static balance thereof under the action of the tension forces of the cables (130). Anchor points are spatially distributed and can not be grouped into less than two planes, regardless of the configuration. According to this exemplary embodiment, the anchors (112) constituted by pulleys define a reconfigurable assembly because said pulleys (112) are able to be displaced in the structure. According to this nonlimiting exemplary embodiment, said pulleys (112) are able to be displaced vertically along the pillars of the gantry (110). According to alternative embodiments, the displacement of said pulleys is performed manually between pre-defined fixing points or is motorized and controlled by the digital control director (150). According to another variant, the two previous variants are combined namely, that the robot is manually reconfigurable, according to one or more generic configurations, in which generic configurations the anchors are movable in reduced races.
    [0007] Still according to alternative embodiments, the pulleys are connected to the structure by a pivot connection axis parallel to the pillar which support them, and are subsequently freely adjustable along this axis. Alternatively, the orientation of the anchors is motorized and controlled by the numerical control director. Finally, according to another variant embodiment, the motorized winches (111) are also movable and steerable in the structure (110) by motorized means controlled by the digital control director (150). These various movements allow to add degrees of freedom and increase the workload achievable without collision. In return, the combinatorics relating to the determination of the optimal placement of the anchor points increase accordingly and the methods of the prior art do not make it possible to calculate the configurations ensuring the static equilibrium of the platform all along the road. the intended trajectory. 2, according to a first geometric configuration, the anchors (211) of the device of the invention, symbolically represented, are placed at the vertices of a rectangular parallelepiped whose sides along the x (201), y (202) axes. and z (203) 20 of the machine mark of the device according to the invention are respectively 2114, 2115 and 2113, the platform being in the center of the parallelepiped of respective coordinates, u1, u, and 113. The position of each Anchor A 1 which represents the anchorage No. i in the configuration No. 1, is determined by a vector (213) associated, garlic extending between the machine origin (200) of the device object of the invention and the point (211) representing the position of said anchor. Thus, this configuration n ° 1, denoted by C, is defined by the vectors ao (i = 1..8), that is to say: a 1.1 = h1 + 114, u2 + u5.4131T a5 1 = L u 2- u 5, -u3r a2.1 = h1 + 114, 112 + 115, a61-h1-114, u2-115, u3JT a41 = I-11 1414, 112 + 115, u a71 = [u1 + u4, u 2- u 5, -u3r 30 a3 1 = L 112 + u5, -u3r a8,1 = hi + u4, 112115,113r 3024 956 10 so that the configuration C ,, according to this embodiment, is defined by the vector X = [/ 11, u2, uu u5r. According to this exemplary embodiment, the platform is represented symbolically by a parallelepiped (220) of section ip x wp in the plane x, y and of height hp according to 5 z, and whose hooks (221) are positioned at the vertices said parallelepiped (220). Thus, the coordinates of each attachment point Bo corresponding to the configuration C, are given in a reference linked to the platform of the device of the invention by the vectors b.1 is 1 1111 = - [1p, wp , hpf b61 = 1171 = -w hpr P '10 b'- - [1, w b31 = -1 [- /, w, hpf 2 b41 = -1 1181 = - [1p, -wp, -h pr b51 Thus, from the vectors bo, the position of the platform in the machine coordinate system and vectors ao, it is possible to determine the position and the orientation of the cables for all the points of a trajectory realized in this way. C1 configuration. 3, according to an exemplary use of the device according to the invention, it is used to perform a stripping / painting operation of a large structure (300) such as a fuselage section of a aircraft or the hull of a ship.
    [0008] To perform this operation, without collision of the cables with said structure (300), at least 3 configurations corresponding to 3 paths (321, 322, 323) of the platform of the device object of the invention are necessary. Thus, according to this exemplary implementation, the configuration C, (FIG. 2) is adapted for the realization of the path P1 (321). By way of nonlimiting example, for this application, the upper anchors (A1,1, A3,1, A51, A71) are attached to a structure on the ceiling of the workshop, for example to a traveling crane, and the anchors (A21, A41, A61, A81) are attached to posts or mobile carriages in the workshop. The realization of the path P2 (322) requires a change of configuration.
    [0009] 4, the configuration C ,, adapted to the realization of the trajectory P2 is defined by the vector X 2 = [V pV 2, V 3, V 4, V 5] T such that: al 2 - a 2, 2 - [V 1-1; 4.1; 2-1 5, V 3] T a32 = a42 = [v1-v4, v2 + v5, v T a52 = a6,2 = [v1 + v4, v2 + v5, v T15a 72-a8,2- [ v1 + V4,122-125, V3] T The anchors are thus all placed on the ceiling structure of the workshop. In this configuration C, the points of attachment of the cables are also modified so that: 1 b5, -1p, wp, hpl b'- -, -w, hpr PP -hp] T 2011 b 6222 = [-1 -2 P, wP, -hb 32 J-ip, -wp, hpJT b 72, wp, hp] T b4,2 = - [1 W -hpIT b - 8,2 3024 956 12 Returning to FIG. the configuration (not shown) for realizing the path P3 (323) is, according to this example of implementation, a configuration similar to the configuration C, all the anchors being simply moved to the other side of the structure ( 300).
    [0010] FIG. 6, according to another example of implementation of the device which is the subject of the invention, more particularly adapted to the case where operations are to be carried out inside the large structure (600), the robot is installed at inside said structure. By way of non-limiting example, the structure (600) is an aircraft section, comprising an outer skin stiffened by frames (610). Floor cross members (650) are attached to the frames (610) at their ends and by connecting rods (660). Alternatively, said structure is a ship's hull or any other large structure. The interior of such a structure being assembled is very congested and most often has no floor on which a conventional robot is able to move. The use of a cable robot makes it possible to place a robot capable of covering a large volume of work inside said structure (600), the anchors (611) being attached to structural elements of said structure, by example to the frames (610) according to this embodiment. Thus, the platform (620) supporting any type of effector is suspended inside the structure (600). Returning to FIG. 3, in order to study the optimal position of the anchors for each of the configurations, the trajectories (321, 322, 323) are discretized into a finite number of segments, for example, according to a linear interpolation in GO1 of said trajectory according to the ISO 6983 standard. By way of example, the trajectory P is discretized in 38 points, ie 37 segments. Each pair of up v parameters, defining the position of an anchor according to a configuration, is modified according to an iteration step between two terminals. By way of example, each pair of up v parameters is studied according to 9 iterations between defined variation terminals. The analysis of each situation, that is to say of all the combinations of points of the trajectory and the positions of the anchors leads to a combinatorial explosion. Thus, according to this embodiment 59049 (95) situations should be tested in the case of the configuration C, for each point of the path P1 is more than 2 million possible combinations. 5A, the method of the invention aims to reduce the number of combinations studied to determine the optimum position of the anchors. A first step (510) of material initialization of the method which is the subject of the invention consists in obtaining the hardware arrangement of the device studied. By way of nonlimiting example, this step consists of obtaining: 5 - the number of cables: m; the elasticity of the cables, for example by means of their Young's modulus E; - the diameter of the cipc cables; the coefficient of stiffness ki of each cable i, the voltage -cm 'admissible in the cables so that at any time and for each cable i (i = 1, ..., m): 0 <ü < Tma, which translates, in particular, that each cable must always be in tension; the position of the hooking point Bi of the cable in the reference of the platform represented for each cable by the vector bi; These material conditions, which are constant, are grouped in a vector: q = [m, E, cipc, k'-cm ', b LIT A step (520) for defining the path, of the method which is the subject of the invention, consists of obtain the trajectory for which the optimization of the placement of anchor points or anchor points is targeted. By way of nonlimiting example, this step (520) consists in obtaining: the n points defining the position of the platform in the machine reference of the device during the realization of the target trajectory P; the orientation of the platform at each of the points of the trajectory, represented for example by means of a rotation matrix R; Thus, according to an exemplary embodiment, each pose, or posture, of the platform 25 at each point of the trajectory P is determined by a vector p = [t, F] T where the vector t defines the Cartesian coordinates of the platform in the machine coordinate system of the device, and the vector 41) the orientation of the platform, determined for example by Euler angles with respect to the x, y and z axes of the machine coordinate system. device. According to a particular embodiment of the method which is the subject of the invention, the course definition step (520) also includes the definition of the torsor, ive, of the external forces applied to the platform at each point of the trajectory. . This torsor consists of the stress related to the weight of the platform and the effector, and the forces generated by said effector during the task performed. By way of non-limiting example, it concerns machining forces or the impulse force produced by the ejection of a product such as paint or a pickling mixture through the nozzle of the effector. Thus, in each point of the trajectory P, is defined a vector ive = [f, mf where the vector f represents the components of the external actions on the x, y and z axes, and the vector m the components of the moments of the external actions 10 on said axes. According to an advantageous variant, these external actions are defined by extreme variation limits on the various components. This method makes it possible to avoid an exact calculation of the external actions, in particular as regards the actions generated by the process implemented, which are not always easy to know with precision and reliability along the trajectory.
    [0011] According to another advantageous variant, this step (520) for defining the path comprises defining the shape, position and orientation of an obstacle in the working volume of the device. 5B, in a schematic illustration, the target path (521) is discretized into a plurality of segments (522) at step (520) for defining the path. Returning to FIG. 5A, the method which is the subject of the invention comprises a step (530) of acquisition of the starting configurations of the anchors and hooks. The definition of these initial configurations is necessary for the implementation of the method, which proceeds by optimization, and must therefore start from an initial configuration.
    [0012] According to alternative embodiments, the set of starting configurations corresponds to fixed and materially defined configurations of the anchors or hooks, for example, when the robot in question only allows discrete positions of the anchors or hooks. Alternatively, when, for example, the position of the anchors is continuously modifiable, the starting set of configurations is automatically generated so as to explore the working domain. For example, the step (530) of acquisition of the starting configurations consists in defining for each anchoring point A 'i = /, ..., m whose position in the machine coordinate system is defined by the vector has, i = 1, ..., m a set of ri, parameters uk, k = 1, ..., n, applicable to the coordinates of each vector a, and a set of discrete values corresponding to a combination of these parameters. These combinations of values are contained in a 5 set [uk / so that the k-th set contains vk values. These three steps (510, 520, 530) of acquisition of the initial conditions of the problem are written from an algorithmic point of view: Require: q = [m, E, Oc, k'-cm ', b LIT Required: P 10 Require: R Require: We Require: [uki According to an exemplary embodiment the method according to the invention comprises a step (540) of modeling the problem of determining the n (possible configurations of the robot by combining the variables contained in in each set [uk] in the form of vectors x1, 1 = 1, ..., n, each vector x1 defining a configuration el From an algorithmic point of view this modeling step is written: Generate n, = According to a step of calculating (550) the attainable points of the trajectory of the method which is the subject of the invention, the latter calculates, for each configuration, which points are attainable of the trajectory P. A point of the trajectory is attainable for a confguration el given if at this point the constraints are checked, by e xample: - the static balance of the platform is assured; - the target positioning accuracy is checked; 25 - there is no collision with possible obstacles in the environment; - there is no collision or interference. At the end of this step (550), for each configuration and and each trajectory 3024956 16 is defined a set of points P - responding to the constraints is which are therefore attainable and a set of points, 7 ,,, = o for which the conditions are not verified and which, therefore, are not attainable in the configuration considered. From an algorithmic point of view this step (550) is written: 5 for 1 = 1, ..., n, do Compute act, i = 1, ..., m for p = 1, .... , np do function CONSTRAINT Return c / p 10 end function If cLp = 1 then = else Pyv = 0 15 end if end for Compute: [P Compute: h, - end for 20 For a configuration el given the points attainable by a given trajectory are given by a set: [71] p 1, Some attainable points of the trajectory are likely to form disjoint groups. Thus according to an exemplary embodiment, the method comprises a step of eliminating the groups of reachable points not covering more than a defined proportion of the trajectory. At the end of this calculation, configurations H 3024956 17 which do not cover the trajectory that is to say which have no attainable point, or, alternatively, whose proportion of attainable points is less than one defined proportion are eliminated from the solution. The proportion of achievable points of the trajectory is given by: Figure 5B, illustratively, the attainable points of the discretized trajectory (522) are calculated for 6 configurations (551, 552, 553, 554, 555, 556). Of these configurations, one (554) includes only a small number of achievable points, this configuration (554) is eliminated from the solution as well as all configurations showing no reachable point. Referring back to FIG. 5A, a step (560) of the method that is the subject of the invention consists in identifying the dominant configurations among the configurations retained after the preceding step (550). A dominant configuration is defined as a configuration which is the only one to cover one or more points of the trajectory, i.e. which is the only configuration to be able to reach said points. Thus, the set of points [P belonging to a dominant configuration d is defined, for a trajectory by: EJ = -P = 1 0, j = 1 Thus the nd dominant configurations identified correspond to the minimum number of configurations necessary to cover the trajectory P. From an algorithmic point of view this step (560) is written: function DOMINANT ([P] identify nd dominant configurations and the sets corresponding to identify the nd sets [Pd] return nd, [P-]. Figure 5B, according to this illustrative example, the remaining configurations (551, 552, 553, 555, 556) comprise 3 dominant configurations (551, 552, 555), Figure 5A, determination step (560), and dominant configurations is followed by a grouping step (570) of grouping the configurations covered by said dominant configuration under one and the same dominant configuration.This grouping condition makes it possible to identify for each nd config dominant configurations a set 9d such that: {9d if for 1 = 1, ..., n, [Pi] P 1 P d] e [Pi] 10 What from an algorithmic point of view is: for / = 1, ..., n, do for d = 1, .., nd do if Pi]] then then e 9d end if end for 20 end for Figure 5B, according to an illustrative example, the configurations are grouped according to two groupings (571, 572) each comprising two configurations, one of which is dominant, and a single dominant configuration (551). 5A, according to a screening step (580), aimed at eliminating the redundant configurations, said step (580) consists in searching for the singular segments of each dominant configuration. A singular segment is a set of points in the trajectory that are covered by only one dominant configuration.
    [0013] As shown in FIG. 5B, each dominant configuration (551, 552, 555) comprises a singular segment (581, 582, 585). One of the configurations (553) grouped with one of the dominant configurations (552) does not cover the singular segment (582) of this dominant configuration. Also, this configuration (553) is removed from the solution. This iterative approach allows limiting the optimization to the study of the relevant configurations. FIG. 5A, during an optimization step (590), this optimization is carried out on all possible combinations of the configurations retained in each configuration group 9d. Advantageously, the combinations of configurations that do not make it possible to reach all the points of the trajectory are not considered in this analysis. 5B, by way of illustrative example, no combination implementing one or more dominant configurations (551, 552) of the first groups (551, 571) with the non-dominant configuration (556) of the third group (572) allows to reach all points of the trajectory, so that this configuration (556) and its combinations with other configurations are ignored. In practice, according to this illustrative example, only the combination of the 3 dominant configurations can cover the entire trajectory. The optimization is carried out according to defined optimization criteria, by means of optimization techniques known from the prior art, the optimization criteria being defined according to the application and make it possible to define the optimal sequence of operations. configurations outside the singular segments. In the case where no complete optimal solution is obtained, several actions are possible depending on the intended application such as: - defining a new set of initial configurations, vis-à-vis the anchors or hooks; - relax the optimization constraints, for example by accepting lower precision and greater deformation of the cables; - Change the position of the room or obstacles in the work volume of the robot. The above description and the exemplary embodiments show that the invention achieves the desired objectives, in particular by sequentially selecting the relevant configurations it makes it possible to develop a cable robot whose anchors are organized according to a three-dimensional diagram. under optimal reconfiguration conditions to cover a large volume of work and evolve out of colliusions 5 in a congested environment. Thus, the anchors are installed on the ceiling or on the walls delimiting the environment. According to a particular embodiment, all or part of the anchors are supported by drones or cranes. The device and the method which are the subject of the invention are particularly suited to the implementation of applications such as the logistical organization of aeronautical workshops, for the movement and assembly of aircraft sections or wings, for the performing drilling and riveting operations on these sections, or as a support for measuring or control means of said sections such as measuring means by photogrammetry or ultrasonic control. The method and the device which are the subject of the invention are also suitable for applications using sections of vessels, particularly for assembling said sections or subassemblies with these sections, particularly in height or in difficult areas. access, as well as the achievement of operations on these sections of ship, such as painting, stripping, shot blasting, welding. Finally, and without this list being exhaustive, the method and the device 20 of the invention are suitable for assembling and carrying out operations on structural elements in the energy sector, particularly on wind turbines, hydraulic or turbines, for example on poles where the offshore support structures, called jackets, said robot being attached to the outside of the structure or suspended inside said structure.
    权利要求:
    Claims (14)
    [0001]
    REVENDICATIONS1. Device (100) for the displacement and spatial orientation of an effector-carrying platform (120), which device comprises: i. a plurality of cables (130) extending between a point of attachment (121) on the platform and an anchor (111, 112) connected to a fixed structure (110) in space, the positions of the anchors being not contained in the same plane; ii. a set of cables, said motor assembly, one end of each cable is attached to a motorized winch (111) for winding and unwinding of the cable on said winch; characterized in that it comprises: iii. a set of cables, said reconfigurable assembly, whose attachment points (121) or anchors (112) are adapted to be displaced relative to the platform (120) or in the structure (110) fixed.
    [0002]
    2. Device according to claim 1, comprising: iv. anchors (111, 112) comprising a displacement capability along an axis of rotation vis-à-vis the fixed structure (110).
    [0003]
    3. Device according to claim 1, comprising: y. guide means and motorization and control means for moving an anchor of the reconfigurable assembly.
    [0004]
    4. Device according to claim 2, comprising: vi. motorization and control means for the orientation of an anchor vis-à-vis the fixed structure.
    [0005]
    5. Device according to claim 3, comprising: vii. a control director comprising a computer for controlling the motorization means of the motor assembly and of the reconfigurable assembly; viii. programming means (160) capable of interacting with the command director to program platform movements.
    [0006]
    6. Use of a device according to any one of the preceding claims, for a stripping / painting operation of a curved surface of a large structure (300).
    [0007]
    7. Use of a device according to any one of the preceding claims, for carrying out an operation inside a structure (600) of large dimension, the anchors (611) of said device being fixed to structural members (610) within said structure (600).
    [0008]
    8. A method for determining the minimum configurations of the reconfigurable assembly of a device according to claim 5, in order to achieve a trajectory (521) defined in static equilibrium conditions, characterized in that it comprises the steps consisting of: a. obtaining (510) the hardware arrangement of the device; b. obtaining (520) the intended trajectory of the effector, discretized into segments of appropriate length; C. to obtain the torsor of the external forces applied to the platform at each point of said discretized trajectory; d. obtaining (530) a discrete set of configurations, called start configurations, of the reconfigurable set; e. analyzing (550) for each starting configuration (551, 552, 553, 554, 555, 556) the ability to reach all segments of the path defined in step b) under static equilibrium conditions based on external actions defined in step c) and the hardware arrangement obtained in step a) and eliminating the least promising starting configurations (554); f. determining (560) among the remaining configurations of step e) the dominant configurations covering the path and including other configurations; g. grouping (570) the non-dominant configurations (553, 556) according to their coverage by dominant patterns (552, 555); h. searching (580) the segments of trajectories, so-called singular segments, covered by a single dominant configuration, eliminating the configurations included in said dominant solutions that do not cover the singular segments; 10 days determining (590) among the configurations remaining in step h) a minimum combination of configurations covering all the segments obtained in step b); k. generate a path realization program incorporating the configuration changes determined in step j), transmit said program to the control director of the device and perform the trajectory.
    [0009]
    The method of claim 8, wherein step a) comprises the steps of: obtaining the number of cables of the device; 20 aii. obtain the diameter of said cables; aiii. obtain the modulus of elasticity of said cables; aiv. obtain the maximum permissible voltage in said cables; BC. obtain the coordinates of a point of attachment in a reference linked to the platform. 25
    [0010]
    The method of claim 8, wherein step b) comprises the steps of: bi. obtaining a sequence of points defining a sequence of segments corresponding to the trajectory in a reference frame; bii. obtain the orientation of the platform corresponding to each point 30 of the discretized trajectory. 3024 956 24
    [0011]
    The method of claim 8, wherein step b) comprises a step of: biii. to obtain the limits of variation of the torsor of the external actions applied to the platform of the device. 5
    [0012]
    The method of claim 8, comprising before step e) a step of: obtaining the position, shape and orientation of an obstacle (300) in the working volume of the device. step e) comprising a collision test with said obstacle. 10
    [0013]
    The method of claim 8 comprising before step d) a step of: m. automatically generate a set of starting configurations for step d).
    [0014]
    14. The method according to claim 12, comprising after step e) if no promising solution is found or after step j) if no combination of configurations makes it possible to cover the entire trajectory defined in FIG. step b), the steps of: n. changing the position or orientation of the obstacle (300) in the work volume; 20 o. resume in step e) with the new coordinates of the obstacle.
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    同族专利:
    公开号 | 公开日
    EP2982483A2|2016-02-10|
    FR3024956B1|2017-08-25|
    EP2982483A3|2016-06-15|
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    法律状态:
    2015-08-21| PLFP| Fee payment|Year of fee payment: 2 |
    2016-02-26| EXTE| Extension to a french territory|Extension state: PF |
    2016-02-26| PLSC| Search report ready|Effective date: 20160226 |
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    优先权:
    申请号 | 申请日 | 专利标题
    FR1457672A|FR3024956B1|2014-08-07|2014-08-07|RECONFIGURABLE CABIN ROBOT AND CONFIGURATION METHOD OF SUCH A ROBOT|FR1457672A| FR3024956B1|2014-08-07|2014-08-07|RECONFIGURABLE CABIN ROBOT AND CONFIGURATION METHOD OF SUCH A ROBOT|
    EP15180288.1A| EP2982483A3|2014-08-07|2015-08-07|Reconfigurable cabled robot and method for configuring such a robot|
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