An Integrated Taxonomy and Critical Review of Module Designs for Serial Reconfigurable Manipulators

Stravopodis, Nikolaos; Valsamos, Charalampos; Moulianitis, Vassilis C.

doi:10.1007/978-3-030-19648-6_1

Cited by 6 publications

(5 citation statements)

References 17 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

Section: Introductionmentioning

confidence: 99%

“…The related works which consider the design and synthesis of unconventional configurations can also be seen in refs. [35,36,38]. Following are the observations from the current literature survey. Most of the robotic designs proposed for agricultural practices are focused on a particular task, and no general solution is found to design the system which can perform a variety of tasks. Standard off-the-shelf robotic arms are used in most cases, which do not have customizability.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Optimal synthesis of reconfigurable manipulators for robotic assistance in vertical farming

2023

View full text Add to dashboard Cite

Due to the ever-increasing demand for food commodities and issues arising in their transport from rural to urban areas, commercial agricultural practices with the help of vertical farming are being taken up near urban regions. For the realization of agricultural practices on high-rise vertical farms, where human intervention is quite laborious, robotic assistance would be an effective solution to perform agricultural processes like seeding, transplanting, harvesting, health monitoring, nutrient-water supply, etc. The requirements and complexities of these tasks to be performed are different such as end-effector requirement, payload capacity required, amount of clutter while performing the task, etc. In such cases, an individual robotic configuration would not serve all the purposes and each task may require a different configuration. Purchasing a large number of configurations, as per requirement, is not economical and will also increase the cost of maintenance. Thus, the design of a reconfigurable robot manipulator is proposed in this work which can cater to modular layouts. A thorough study of the processes involved in the farming of leafy vegetables is done and the tasks to be performed by the manipulator are identified. Constrained optimization is performed based on reachability, while minimizing DoF, for the tasks of transplanting, plant heath monitoring, and harvesting to find the optimal configurations which can perform the given tasks. The study resulted in 5-DoF, 4-DoF, and 6-DoF configurations for transplanting, plant heath monitoring, and harvesting, respectively, thus emphasizing the need of a reconfigurable solution. The configurations are realized using modular library and verified to satisfy reachability to provide a complete solution.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Optimal synthesis of reconfigurable manipulators for robotic assistance in vertical farming

2023

View full text Add to dashboard Cite

show abstract

“…The new design paradigm allowed the end user to structure the best anatomy to match a given task such that the manipulator can achieve the best possible performance during its execution. It is beyond the scope of this work to present the multitude of different proposed design approaches and the subsequent proposed systems implementing this design paradigm; however, thorough reviews with extensive information and system presentation may be found in [ 1 , 2 , 3 ].…”

Section: Introductionmentioning

confidence: 99%

Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator

Stravopodis

Valsamos

Moulianitis

2022

Sensors

View full text Add to dashboard Cite

The inherit complexity of the determination of the optimal anatomy and structure to task requirements and specification for metamorphic manipulators poses a significant challenge to the end user, as such methods and tools to undertake such processes are required for the implementation of metamorphic robots to real-life applications in various fields. In this work, the methodology for an offline process for the determination of the optimal anatomy maximizing performance under different requirements is presented. Such requirements considered in this work include the kinematic, kinetostatic and dynamic performance of the manipulator during task execution. The proposed methodology is then applied to a 3 D.o.F. metamorphic manipulator for different tasks. The presented results clearly show that a single metamorphic structure is able to provide the end user with different anatomies, each better suited to task specifications.

show abstract

“…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

View full text Add to dashboard Cite

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.

show abstract

An Integrated Taxonomy and Critical Review of Module Designs for Serial Reconfigurable Manipulators

Cited by 6 publications

References 17 publications

Optimal synthesis of reconfigurable manipulators for robotic assistance in vertical farming

Optimal synthesis of reconfigurable manipulators for robotic assistance in vertical farming

Experimental Verification of Optimized Anatomies on a Serial Metamorphic Manipulator

An Optimal Architectural Design for Unconventional Modular Reconfigurable Manipulation System

Contact Info

Product

Resources

About