Search

Your search keyword '"NEODITECH"' showing total 2 results
Start Over Author "NEODITECH"
2 results on '"NEODITECH"'

1. Transparency Analysis of a Passive Heavy Load Comanipulation Arm

Author

Thomas Muller, Kevin Subrin, Denis Joncheray, Alain Billon, Sebastien Garnier, NEODITECH, Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ), Robots and Machines for Manufacturing, Society and Services (LS2N - équipe RoMas), Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), and École Centrale de Nantes (Nantes Univ - ECN)

Subjects
Human-Computer Interaction, [SPI]Engineering Sciences [physics], Artificial Intelligence, Computer Networks and Communications, Control and Systems Engineering, Signal Processing, Human Factors and Ergonomics, Computer Science Applications
Abstract

International audience

Published
2022
Full Text
View/download PDF

2. A study on transparency of a passive manipulation mechanism : application to Neoditech Scara Parts

Author

Muller, Thomas, Subrin, Kévin, Garnier, Sebastien, Joncheray, D, Billon, A, Institut Universitaire de Technologie - Nantes (IUT Nantes), Université de Nantes (UN), Robots and Machines for Manufacturing, Society and Services (RoMas), Laboratoire des Sciences du Numérique de Nantes (LS2N), IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-Université de Nantes - UFR des Sciences et des Techniques (UN UFR ST), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique Bretagne-Pays de la Loire (IMT Atlantique), Université de Nantes (UN)-Université de Nantes (UN)-École Centrale de Nantes (ECN)-Centre National de la Recherche Scientifique (CNRS), NEODITECH, and Subrin, Kévin

Subjects
Pas- sive Mecanisms, [SPI]Engineering Sciences [physics], [SPI.AUTO] Engineering Sciences [physics]/Automatic, Load transportation, [SPI] Engineering Sciences [physics], Cobotics, Scara Architecture, Manipulability analysis, Transparency, Robotic, [SPI.AUTO]Engineering Sciences [physics]/Automatic
Abstract

International audience; In the field of 5 to 100 kg load transportation in workshops, many systems having more or less complex ar-chitectures have been developed to reduce musculo-skeletal disorders (hoists, pliers, dedicated systems). These systems offer different behaviors and human interaction is far from being the same for all of them. In recent years, the literature produced a lot of work around design thinking, user-centered approaches emphasizing notions around perception, cognition, and ergonomics to meet the needs of the end user. The development of cobotics and more generally systems allowing the interaction or co-manipulation of objects highlights the notion of transparency of the system. This transparency is expressed as the fact of feeling only a part of the physical magnitudes of the object most relevant to the user in his manipulation. In the context of this article, we study the transparency of a kinematically redundant passive mechanism based on a scara one (revolute joints parallel between them) when manipulating heavy objects on a plane. This article is based on a state of the art of different criteria in order to evaluate the behavior of a robot such as manipulability or dexterity. We will indicate the relevance of these criteria that we apply to a theoretical study. These theoretical aspects will then be evaluated on Neoditech Scara Parts arm. It is a mechanism capable of handling up to 50kg composed of a plane arm mounted on vertical linear axis itself mounted on a fixed or mobile base. This plane arm consists of 6 revolute joints having parallel axes ensuring redundancy in the architecture of the robot.

Published
2019

Catalog

Books, media, physical & digital resources
See catalog results