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Title: | Modular robotic assistance in cluttered environments: A broad-spectrum of industrial applications |
Authors: | Singh, S. Kaplish, A. Singla, E. |
Keywords: | Cluttered environments Modular robots Reconfigurable architecture Serial manipulators |
Issue Date: | 23-Dec-2022 |
Abstract: | A broad perspective is presented for the utilization of modular robotic arms in various industrial tasks, particularly for cluttered environments. Parameters-based modules are proposed to develop reconfigurable manipulators according to the robotic parameters, resulting out of the design procedure. A brief description of the modules divisions and the optimal assembly planning is presented. Focus of the paper is the multi-layered approach for modules inventory, which can be referred as base for the further additions in the types of modules required in the library. A case study on a realistic problem of challenging welding sites is presented as one example of the upper layer of multi-layered spectrum. The results present the designed configurations and corresponding modular assembly. |
URI: | http://localhost:8080/xmlui/handle/123456789/4341 |
Appears in Collections: | Year-2016 |
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