Conceptual Design of a Modular Robot

Abstract

In flexible automation approach to batch or job-shop production the main emphasis has always been on the re-programmability of the elements of a manufacturing system. The assumption that lies behind this philosophy is that “system flexibility” can be achieved through (mainly) software flexibility and limited hardware flexibility. Modular robots introduce a new dimension to flexible automation in terms of hardware flexibility, when compared to conventional industrial robots, in terms of yielding individual global optimal arm geometries for each of the tasks at hand. The objective of our ongoing research in the area of “mechanical design of modular robots” is to develop an inventory of basic modular units, which will allow a user to configure the most suitable robot geometry for a task (or a set of tasks) at hand. Standardization of these units and minimization of the size of the inventory constitute the two main goals of this research. In this paper some of our research results on the conceptual design of a modular robot are presented. The individual modular robot units that are presented include: one degree-of-freedom (dof) main joints (rotary and prismatic types), one dof end effector joints (Yaw, Pitch and Roll types), links and connectors.

Self-reconfiguration planning with compressible unit modules

“…Related work in self-reconfiguring robots includes robots in which modules are reconfigurable using external intervention [5]. In [6] a cellular robotic system is proposed to coordinate a set of specialized modules.…”

“…At this point, the remaining compressed pair can be expanded into the goal location. We use the intermetiate crystal I both to maintain stability during reconfiguration and in order to avoid backtracking 5 . We project the 3D structures S and G to and from a planar I.…”

Research on Algebraic Configuration Description Method and kinematical modeling for Modular Robot

“…When the configuration of robot needs to change, our main task is to do the configuration design and some special modules design, which greatly improves the efficient of design. Many institutions have made research about modular robot, such as the RMMS in Carnegie Mellon University [1,2], the modular robot system MRS in university of Toronto [3], the PowerCube series module products in the AMTEC company of Germany [4][5][6] .…”

Modular Robot System for Maintenance Tasks in Large Scientific Facilities

“…Focussing on the industrial and scientific facilities industrial arms [1] and mobile teleoperated platforms [2] among other conventional robots have been significantly useful in performing predetermined tasks successfully. Despite the advantages shown by the conventional robots, they are limited by their fixed morphology, capabilities, development time and initial costs [3]. Adaptability has been a key trait observed in nature for the survival of different living organisms.…”