Dispositif d’assistance associé à des robots manipulateurs utilisés dans des procédés de fabrication/FSW

Abstract : Nowadays industrial robots are used in many manufacturing applications because of their versatility and easy applicability. Notwithstanding their performance these robots are not suitable for some manufacturing processes where uniform and high forces together with suitable precision of position are required. The present research is focused on the robotization of one of the high-thrust operations, the friction stir welding (FSW). This method for connecting two parts works while the connected materials are in the solid phase. For this reason a very high axial force is needed to soften the material during the welding process. Due to these high forces the position of the tool of a serial robot deviates from the desired trajectory. In this PhD work, the possibility of using a parallel structure device is investigated to improve the load capacity and stiffness of a heavy loadmanipulator robot. In a first part, the geometric, kinematic and dynamic modeling and the flexibility of an industrial robot, Kuka KR500-2MT are developed by locating flexibility at the joints. The second part is to improve the performance of the FSW process using an industrial robot. So different methods are examined: the modification of the gravity compensation system, the addition of an additional mass on the tool, the addition of a parallel structure and the use of a cooperative system. The last two solutions exert forces directly on the process tool. In this way the movement of the tool is mainly generated by the industrial serial robot, while the assistive device (either the parallel structure or the second robot used in the cooperatif system) ensures the generation of very high axial forces. Optimization algorithms are developed to minimize deviations and thus reduce welding defects. Finally, a study of the workspace is studied using Catia software. Knowledge of the system workspace with the proposed solutions allows to estimate the possible welding applications that can be achieved using these systems.
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Fawzia Dardouri. Dispositif d’assistance associé à des robots manipulateurs utilisés dans des procédés de fabrication/FSW. Automatique / Robotique. Ecole nationale supérieure d'arts et métiers - ENSAM; Institut für Philosophie (Karlsruhe, Allemagne), 2018. Français. ⟨NNT : 2018ENAM0036⟩. ⟨tel-02193207⟩

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