A modular manipulator for industrial applications: Design and implement

Liu, Yiming; Xu, Hui; Geng, Changxing; Chen, Guodong

doi:10.1109/icrae.2017.8291405

Cited by 11 publications

(1 citation statement)

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“…Many researchers have contributed in this domain to achieve customization using modular and reconfigurable concepts. Reconfiguration has been presented using self and manually reconfigurable modular designs [6,7], using lockable joints in [8,9] and using modular joints and links in [10,11,12,13,14]. Modular joints and links presented in these works are designed to get connected for standard configurations, such as planar chain, PUMA and SCARA configurations etc.…”

Section: Introductionmentioning

confidence: 99%

An Optimal Architectural Design for Unconventional Modular Reconfigurable Manipulation System

Dogra

Padhee

Singla

2020

Journal of Mechanical Design

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Modular and Reconfigurable manipulators have gained popularity especially in the service sector, where the use of customized configurations has increased. Adaptable modular designs have come into advances in achieving the required configuration of a robotic manipulator. As reported in the literature, various designs of the modules mainly with conventional configurations are presented and a few are reported with unconventional adjustments. To cater the non-repetitive applications, this paper presents an optimal architectural design for unconventional parameters for customized reconfigurability. This lighter and easier to connect version is also applicable to n-DoF and unconventional robotic parameters. Architecture Prominent Sectioning (APS) strategy is proposed which assumes an architecture as a set of point masses and optimally relocate components with respect to the minimization of the joint torques. Modules are considered to be 3-D printables using poly-lactic acid (PLA), a thermoplastic material, and thus light in weight. The new modular architecture design is validated through the assemblage of conventional/unconventional configurations using two types of modules namely Heavy(H) and Light(L). Along with that, worst torque analysis for the different configurations has been done in order to provide a strategy for assembly combinations. A comparative study is presented based upon the payload to the manipulator weight ratio, involving other reported architectures.

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