Trainee Project
Title:
Design and Implementation of a Cable-Driven Robot with Four Motors
Dates:
2025/04/01 - 2025/09/30
Supervisor(s):
Other supervisor(s):
MCF-HDR, Mr. OUDANI Mustapha (mustapha.oudani@uir.ac.ma)
Description:
Context:
The development of cable-driven robots represents a major advancement in robotics, particularly for applications requiring high precision and the reduction of heavy infrastructure. Unlike traditional robots on wheels or rails, cable-driven robots provide a lightweight and adaptable solution, making them ideal for diverse applications such as precision agriculture, industrial monitoring, or operations in constrained environments.
This internship is part of a project aimed at designing a cable-driven robot capable of moving a platform equipped with sensors and actuators within a three-dimensional space while ensuring robust and precise control using only four motors.
Internship Objectives:
The intern will be responsible for:
1. Mechanical Design:
Defining the optimal geometry of the robot (attachment points of the cables on the motors and the end-effector) to maximize the workspace and avoid cable collisions.
Selecting and integrating high-performance motors in terms of torque and speed, suitable for the system's requirements.
2. Development of Control Laws:
Developing robust control laws to ensure precise trajectory tracking.
Experimentally testing and validating these controls, first on a single motor/winch and subsequently on all four motors.
3. Experimental Validation:
Building a scaled-down prototype to validate the mechanical design and control algorithms.
Analyzing the robot's performance (accuracy, stability, robustness) and proposing improvements if necessary.
Required Skills:
Knowledge of mechanics and modeling of dynamic systems.
Solid foundation in control systems, particularly in control laws and trajectory tracking.
Familiarity with simulation tools (MATLAB/Simulink or equivalent) and experimentation platforms (Arduino, Raspberry Pi, or other embedded systems).
Ability to work independently while providing regular progress updates.
Additional Desired Skills:
Prior experience in robotics or mechatronics.
Knowledge of rapid prototyping techniques (3D printing, laser cutting).
Internship Timeline:
Month 1: Literature review on cable-driven robots and familiarization with simulation and design tools.
Month 2: Detailed design of the robot (motor selection, cables, and geometric configuration). Development of initial control algorithms.
Month 3: Implementation of control laws on a single motor and preliminary experimental validation.
Month 4: Integration of all four motors and implementation of the complete system. Optimization of mechanical and control performance.
Month 5: Experimental testing of the full prototype. In-depth performance analysis and identification of limitations.
Month 6: Finalization of tests, writing of the internship report, and preparation of a concise presentation of the results.
The development of cable-driven robots represents a major advancement in robotics, particularly for applications requiring high precision and the reduction of heavy infrastructure. Unlike traditional robots on wheels or rails, cable-driven robots provide a lightweight and adaptable solution, making them ideal for diverse applications such as precision agriculture, industrial monitoring, or operations in constrained environments.
This internship is part of a project aimed at designing a cable-driven robot capable of moving a platform equipped with sensors and actuators within a three-dimensional space while ensuring robust and precise control using only four motors.
Internship Objectives:
The intern will be responsible for:
1. Mechanical Design:
Defining the optimal geometry of the robot (attachment points of the cables on the motors and the end-effector) to maximize the workspace and avoid cable collisions.
Selecting and integrating high-performance motors in terms of torque and speed, suitable for the system's requirements.
2. Development of Control Laws:
Developing robust control laws to ensure precise trajectory tracking.
Experimentally testing and validating these controls, first on a single motor/winch and subsequently on all four motors.
3. Experimental Validation:
Building a scaled-down prototype to validate the mechanical design and control algorithms.
Analyzing the robot's performance (accuracy, stability, robustness) and proposing improvements if necessary.
Required Skills:
Knowledge of mechanics and modeling of dynamic systems.
Solid foundation in control systems, particularly in control laws and trajectory tracking.
Familiarity with simulation tools (MATLAB/Simulink or equivalent) and experimentation platforms (Arduino, Raspberry Pi, or other embedded systems).
Ability to work independently while providing regular progress updates.
Additional Desired Skills:
Prior experience in robotics or mechatronics.
Knowledge of rapid prototyping techniques (3D printing, laser cutting).
Internship Timeline:
Month 1: Literature review on cable-driven robots and familiarization with simulation and design tools.
Month 2: Detailed design of the robot (motor selection, cables, and geometric configuration). Development of initial control algorithms.
Month 3: Implementation of control laws on a single motor and preliminary experimental validation.
Month 4: Integration of all four motors and implementation of the complete system. Optimization of mechanical and control performance.
Month 5: Experimental testing of the full prototype. In-depth performance analysis and identification of limitations.
Month 6: Finalization of tests, writing of the internship report, and preparation of a concise presentation of the results.
Keywords:
Robot Modeling, Robust Control, Trajectory Tracking
Conditions:
Duration : 6 months
Location: CRAN, IUT Henri Poincaré in Longwy, University of Lorraine.
Required Skills:
Knowledge of mechanics and dynamic systems modeling.
Strong foundation in control systems, particularly control laws and trajectory tracking.
Familiarity with simulation tools (MATLAB/Simulink or equivalent) and experimentation platforms (Arduino, Raspberry Pi, or other embedded systems).
Ability to work independently while providing regular progress updates.
Additional Desired Skills:
Prior experience in robotics or mechatronics.
Knowledge of rapid prototyping techniques (3D printing, laser cutting).
Location: CRAN, IUT Henri Poincaré in Longwy, University of Lorraine.
Required Skills:
Knowledge of mechanics and dynamic systems modeling.
Strong foundation in control systems, particularly control laws and trajectory tracking.
Familiarity with simulation tools (MATLAB/Simulink or equivalent) and experimentation platforms (Arduino, Raspberry Pi, or other embedded systems).
Ability to work independently while providing regular progress updates.
Additional Desired Skills:
Prior experience in robotics or mechatronics.
Knowledge of rapid prototyping techniques (3D printing, laser cutting).
Department(s):
| Control Identification Diagnosis |
Funds:
4.35¬ per hour, which amounts to approximately 609 ¬ per month.