COROB: COnception de ROBots (Design of Robots)
Master Program
French "Ingénieur" Program (equivalence to a Master Program), Option "Robotics"Semester:
S3 or S5Lecturers:
Stéphane CARO (Part 1: Optimal design - 10 h)
Sébastien BRIOT (Part 2: Balancing - 10 h)
Head of the course:
Sébastien BRIOTObjectives of COROB
This course is about the optimum design of serial and parallel robots. Some performance indices will be provided and the design problems will be formulated as optimization problems. Those optimization problems may be mono- or multi-objective and subjected to constraints. The geometric, kinematic, kinetostatic and dynamic performances of the robots will be considered in those design problems. Moreover, some optimization routines will be taught to solve the optimization problems at hand.
More details on the general content 
COROB Part 2: Balancing of Robots
Lecture Content:
- Lecture 1:
Gravity balancing of robots (4 hours)
- Introduction to the lecture
- Basics of dynamics principles
- Lagrange formalism
- Newton-Euler equations
- Computation of the robot input torques in statics
- Gravity balancing with counterweights
- Gravity balancing with springs
- Exercises
- Lecture 2: Input torque cancellation for high-speed cyclic mechanisms (2 hours)
- Dynamics equations for high-speed cyclic mechanisms
- Computation of the kinetic and potential energies
- Computation of the mechanism input torques
- Definition of the additional balancing systems
- Dynamics equations for the balancing systems
- Computation of the kinetic and potential energies
- Computation of the mechanism input torques
- Torque cancellation
- Exercises
- Dynamics equations for high-speed cyclic mechanisms
- Lecture 3: Shaking force and shaking moment balancing of robots (4 hours)
- Definition of this type of balancing and its interest
- Definition of the shaking force and shaking moments
- Shaking force balancing with counterweigts
- Shaking moment balancing with counter-rotations
- Shaking force and shaking moment balancing with couterweights only
- Minimization of the shaking force and shaking moment through optimal trajectory planning
- Exercises
COROB Labs
Labs Content:
- Lab 1: Introduction to ADAMS and ADAMS/Controls (4 hours)
- Introduction to ADAMS
- Creating a mechanism with ADAMS and simulating its behavior in kinematics and dynamics
- Importing CAD files into ADAMS and creating a mechanism
- Introduction to ADAMS/Controls
- Interfacing ADAMS with Matlab/Simulink
- Simulating a robot with its controller
- Lab 2: Optimal kinematic design of a 2R serial robot (4 hours - this lab is an exam lab)
- Computation of the geometric and kinematic models
- Coding the geometric and kinematic models with Matlab
- Computation of the robot links for obtaining an isotropic configuration
- Definition of an optimal design problem
- Validation of the robot performance with ADAMS
- Lab 3: Balancing of a 2R serial robot (4 hours - this lab is an exam lab)
- Definition of solutions for gravity balancing (with counterweights, with springs) and validation with ADAMS
- Definition of solutions for shaking force and shaking moment balancing (with counterweights, with springs) and validation with ADAMS