Simulation - Work in progress

We keep working on the simulation and as you can see below these lines, we updated the environnement of the simulation. We also improved the physics and we enhanced the camera vision.

Some details will be implemented but the next major step is to fit the simulation to the real behavior of our prototype.

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Into the simulation

As a bonus, we are developping a full-scall simulation of our robot. We firstly used this simulation to test our control program. Now we want to improve it and we aim to use it for piloting assistance.
 
The simulation uses datas sent by the robot from the closed loop controle. Our goal is to make the simulation as real as possible in term of kinematics, kinetics and dynamics to make it usable.

                                                                           Scripting C# on visual studio                                       Screenshot of the modelling

The simulation is developped with unity 3D wich combines graphical programming and scripting.
Here is a demonstration of our work wich is not over. We will have to match the simulation with the real behavior of the robot and add textures.

                                                                                               Working on the simulation

Manufacturing the RICA IV

As part of the realization of the RICA IV, we manufactured most of the parts on the school's mechatronics platform. We did the machining by ourselves, assisted by our teachers when it was needed. Many pieces were made on conventional lathes. The most complex parts were made on CNC machines (5-axis lathe and milling machine) that we programmed. For the flat parts (frame and arms), we used a CAM program that we did on CATIA V5.  

 

                                                    Conventional lathe                          numerically controlled milling machine                                band-saw

Electric housing

The electric housing is now manufactured. It is composed of 4 pieces mounted together around the motors support.

The two parts, where the electronics will be integrated, were printed with wire while the top plate was printed in two parts by sintering.

                                       Motors support (sintered)                 Electronics support (3D printed)                      Top plate (sintered)

So that the whole mounts correctly on the frame, we had to slightly sand. Now we will start the integration of the electronics !

OUR FELLOW STUDENTS ARE NOW AWARD WINNERS

On December 14th of 2016 was held the fourth edition of the Dismantling Conferences. There, around 250 professionals discussed the future of the field.

During the morning, several conferences were held. It was the opportunity for guests to show their point of view and their ideas to improve dismantling in general. For example this year they made a round table discussion about the implementation of numeric technologies in the dismantling process and a second one about system engineering integration.

During the afternoon guests would meet other people thanks to a “speed dating-like” organization . Everybody could meet other professionals and make a kind of benchmark. It is an unique opportunity to see what other parties are doing and what their views are for the future of dismantling.

Three awards were given through the meeting. Three apprentices from our promotion are proud to received one. The goal of awarding a trophy to students is to encourage academic training and projects about the dismantling. It is the case of the RICA IV project and the Zumo Robot project we managed early 2016. It was a great opportunity to show to professionals of this field that Mechatronics are relevant and useful for their companies, it may be the start of great collaborations.

Our three award winning students : Philippe THUILLER, Maxime NAVES and Alexandre MONNY