Development of reconfigurable serial manipulators using parameters based modules

Abstract

The aim of this paper is to present a modular architecture for the design and realization of reconfigurable serial manipulators. Based on the actuator specifications – size, weight and load carrying capacity – three divisions of the modules are proposed, possessing same architectural design but different sizes. The novelty of the approach lies in the adaptability of the modules in adjusting the link lengths and the twist angles, according to a given set of design parameters. A brief description of the task-based design is included in the paper. The primary objective of this work is the architectural design of the proposed modules which can cater to the designed values of the robotic parameters. The modules are analyzed under given static load conditions. Stress analysis is performed on the components for the worst case static loading and the simulation results for one division is discussed in the work. An optimal assembly planning, including the number and the type synthesis of modules, is briefed. To demonstrate the utility of the modules in realistic work cells, design and assembly of a 6-links manipulator suitable to work in the given environment is included in the paper.