New Research Trend for Parallel Mechanism
Speaker:Prof. Jorge Angeles
Mechanical Engineering
McGill University
Date & Time:17 Dec 2009 (Thursday) 13:30 - 14:30
Venue:N402

Abstract

The focus of research is design and control of robotic mechanical systems at large as well as their mechanical components, such as drives and sensors. A major activity here is the development of speed reducers meeting the strict requirements of robotic and mechatronic applications: zero backlash; zero friction; and unlimited stiffness. While meeting these demands is physically impossible, we are trying hard to do much better than gears. You will be able to see our prototypes of Speed-o-Cam, in two versions, planar and spherical. The former is intended to replace spur and helicoidal gears, while the latter bevel gears with straight and spiral teeth. We also have on display a virtual and a rapid prototype (courtesy of Ecole Centrale de Nantes' Dr. Damien Chablat, France) of Slide-o-Cam, intended to replace rack-and-pinion transmissions. On robot design, we stress robustness regarding their kinetostatic, elastostatic and elastodynamic performances. We are showcasing various projects, such as the Multimodular Manipulator System, or M3, composed of three modules, altogether forming a system with 11 controlled axes. We are also developing a four-degree-of-freedom parallel manipulator intended for motions proper of what is known as SCARA (Selective-Compliance Assembly Robot Arm) systems, most of which bear a serial architecture, which limits their load-carrying capacity, their positioning accuracy and their speed of operation. To counter these drawbacks, our parallel robot, the Schonflies-Motion Generator, offers the possibility of grounding all four motors and producing faster motions and more accurate positioning capabilities. We are also developing transmissions for wheeled robots with special features, allowing for accurate positioning, faster operations and unlimited rotation capabilities.

Jorge Angeles graduated as an Electromechanical Engineer at Universidad Nacional Autnoma de Mxico (UNAM) in 1969, from which he also received the M.Eng. degree in Mechanical Engineering in 1970; in 1973, Angeles obtained the Ph.D. degree in Applied Mechanics from Stanford University. Professor Angeles is a Fellow of RSC, The Academies of Arts, Humanities and Sciences of Canada; an ASME Fellow; a Fellow of the Canadian Society for Mechanical Engineering; an IEEE Fellow; Past President of IFToMM, the International Federation for the Promotion of Mechanism and Machine Science; a Honorary Member of IFToMM; a James McGill Professor of Mechanical Engineering at McGill University; the holder of a NSERC Design Engineering Chair; and member of various professional and learned societies.