[{"command":"insert","method":null,"selector":".course-modal-ajax-placeholder-967518","data":"\u003Cdiv class=\u0022container content-rte\u0022\u003E\n  \u003Cdiv class=\u0022row\u0022\u003E\n    \u003Cdiv class=\u0022box col-md-6 bg-primary text-white\u0022\u003E\n      \u003Ch2 class=\u0022h1 text-left\u0022\u003E  Modeling of parallel manipulators\n\u003C\/h2\u003E\n                  \u003Cdiv class=\u0022field-spacing\u0022\u003E\n        \u003Cdiv class=\u0022field__label h3 dash\u0022\u003EECTS :\n          3\n        \u003C\/div\u003E\n      \u003C\/div\u003E\n                  \u003Cdiv class=\u0022field-spacing\u0022\u003E\n        \u003Cdiv class=\u0022field__label h3 dash\u0022\u003ESemester:\n          Semestre 1\n        \u003C\/div\u003E\n      \u003C\/div\u003E\n            \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003ED\u00e9tail du volume horaire\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                          \u003Cspan class=\u0022field__label h4 mt-5 \u0022\u003ELecture:\u003C\/span\u003E\n                                      \u003Cspan\u003E12\u003C\/span\u003E\n                      \u003C\/div\u003E\n                                \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                          \u003Cspan class=\u0022field__label h4 mt-5 \u0022\u003EPractical study :\u003C\/span\u003E\n                                      \u003Cspan\u003E8\u003C\/span\u003E\n                      \u003C\/div\u003E\n                                \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                          \u003Cspan class=\u0022field__label h4 mt-5 \u0022\u003EDirected study:\u003C\/span\u003E\n                                      \u003Cspan\u003E6\u003C\/span\u003E\n                      \u003C\/div\u003E\n                                                            \u003C\/div\u003E\n        \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003ELangue d\u0026#039;enseignement\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                                      \u003Cspan\u003EAnglais\u003C\/span\u003E\n                      \u003C\/div\u003E\n                  \u003C\/div\u003E\n        \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003EEnseignement \u00e0 distance\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                                      \u003Cspan\u003Enon\u003C\/span\u003E\n                      \u003C\/div\u003E\n                  \u003C\/div\u003E\n      \u003C\/div\u003E\n    \u003Cdiv class=\u0022box col-md-6\u0022\u003E\n            \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003EPr\u00e9requis\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                                      \u003Cspan\u003E\u003Cul\u003E\n\u003Cli\u003ESolid mechanics: kinematics and dynamics of rigid bodies.\u003C\/li\u003E\n\u003Cli\u003EAdvanced mathematics: linear algebra, Jacobians, nonlinear equations.\u003C\/li\u003E\n\u003Cli\u003ERobotics fundamentals: coordinate frames, transformations, direct\/inverse kinematics.\u003C\/li\u003E\n\u003Cli\u003EControl and dynamic systems: Lagrange and Newton\u2013Euler basics.\u003C\/li\u003E\n\u003Cli\u003EProgramming skills in MATLAB and\/or Python.\u003C\/li\u003E\n\u003C\/ul\u003E\u003C\/span\u003E\n                      \u003C\/div\u003E\n                  \u003C\/div\u003E\n        \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003EProgramme \/ plan \/ contenus\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                                      \u003Cspan\u003E\u003Cul\u003E\n\u003Cli\u003EIntroduction to parallel manipulators: advantages, architecture families, applications.\u003C\/li\u003E\n\u003Cli\u003EMobility analysis: constraints, degrees of freedom, criteria.\u003C\/li\u003E\n\u003Cli\u003EDirect kinematics: nonlinear systems, existence and uniqueness issues.\u003C\/li\u003E\n\u003Cli\u003EInverse kinematics: analytical and numerical methods, workspace analysis.\u003C\/li\u003E\n\u003Cli\u003EDifferential kinematics: Jacobian matrices, velocity relations, singularity types.\u003C\/li\u003E\n\u003Cli\u003EKinetostatic modeling: stiffness, compliance, and force transmission.\u003C\/li\u003E\n\u003Cli\u003EDynamic modeling using Lagrange formulation for closed-loop mechanisms.\u003C\/li\u003E\n\u003Cli\u003ENewton\u2013Euler formulation adapted to parallel structures.\u003C\/li\u003E\n\u003Cli\u003EHandling constraints: loop-closure equations, holonomic constraints.\u003C\/li\u003E\n\u003Cli\u003EWorkspace and singularity analysis\u003C\/li\u003E\n\u003Cli\u003ENumerical simulation: ODE solvers, simulation of trajectories, dynamic responses.\u003C\/li\u003E\n\u003Cli\u003E\u0026nbsp;Case studies: Stewart platform, Delta robot, 6-DoF parallel manipulators.\u003C\/li\u003E\n\u003Cli\u003EMini-project: modeling and simulation of a complete parallel robot.\u003C\/li\u003E\n\u003C\/ul\u003E\u003C\/span\u003E\n                      \u003C\/div\u003E\n                  \u003C\/div\u003E\n        \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003EObjectifs d\u0026#039;apprentissage\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                                      \u003Cspan\u003E\u003Cul\u003E\n\u003Cli\u003EUnderstand the structure, characteristics, and classifications of parallel robots.\u003C\/li\u003E\n\u003Cli\u003EMaster direct and inverse kinematics of parallel manipulators.\u003C\/li\u003E\n\u003Cli\u003EFormulate Jacobians and analyze singularities specific to parallel architectures.\u003C\/li\u003E\n\u003Cli\u003EDevelop dynamic models using Lagrange and Newton\u2013Euler methods.\u003C\/li\u003E\n\u003Cli\u003EModel constraints, closed-loop kinematics, and mobility of parallel mechanisms.\u003C\/li\u003E\n\u003Cli\u003ESimulate parallel manipulators using MATLAB\/Python and numerical solvers.\u003C\/li\u003E\n\u003Cli\u003EApply modeling results to control, design optimization, and performance evaluation.\u003C\/li\u003E\n\u003C\/ul\u003E\u003C\/span\u003E\n                      \u003C\/div\u003E\n                  \u003C\/div\u003E\n                        \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003EComp\u00e9tences\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                                      \u003Cspan\u003E\u003Cul\u003E\n\u003Cli\u003EAbility to model kinematic and dynamic behavior of parallel robots.\u003C\/li\u003E\n\u003Cli\u003EMastery of closed-loop kinematic constraints and their implications.\u003C\/li\u003E\n\u003Cli\u003EUse of numerical tools for simulation and validation.\u003C\/li\u003E\n\u003Cli\u003EUnderstanding singularity analysis and workspace characterization.\u003C\/li\u003E\n\u003Cli\u003ECapacity to apply models for control and design optimization.\u003C\/li\u003E\n\u003C\/ul\u003E\u003C\/span\u003E\n                      \u003C\/div\u003E\n                  \u003C\/div\u003E\n        \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003EBibliographie\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                                      \u003Cspan\u003E\u003Cp\u003E-\u003Ca rel=\u0022nofollow noopener noreferrer\u0022 target=\u0022_blank\u0022 href=\u0022https:\/\/www.amazon.fr\/Parallel-Robots-J-P-Merlet\/dp\/1402041322\u0022\u003EParallel Robots, Merlet, J.P., Livres\u003C\/a\u003E\u003C\/p\u003E\n\u003Cp\u003E- Tsai, Robot Analysis: The Mechanics of Serial and Parallel Manipulators.\u003C\/p\u003E\n\u003Cp\u003E- Angeles, Fundamentals of Robotic Mechanical Systems.\u003C\/p\u003E\u003C\/span\u003E\n                      \u003C\/div\u003E\n                  \u003C\/div\u003E\n        \u003Cdiv class=\u0022field-spacing\u0022\u003E\n      \u003Cdiv class=\u0022field__label h3 dash\u0022\u003ENature de l\u0026#039;\u00e9valuation\u003C\/div\u003E\n                        \u003Cdiv class=\u0022mt-5 text-justify\u0022\u003E\n                                      \u003Cspan\u003EEvaluation Continue non Int\u00e9grale\u003C\/span\u003E\n                      \u003C\/div\u003E\n                  \u003C\/div\u003E\n      \u003C\/div\u003E\n  \u003C\/div\u003E\n\u003C\/div\u003E\n","settings":null}]