Abstract:
A modular fabrication strategy for the
development of customized robotic arms is proposed in this
paper. With increasing variety in robotic applications, the
concept of task-based customized design is expected to play a
big role in deployment of robotic arms for the required jobs.
Many manipulator design strategies have been presented.
However, there remains a challenge of fabricating the
manipulators – possessing the configurations and the
parameters resulting out of the design process. This paper
presents a strategy for modular development of arms. The
novelty of the strategy lies in the aspect that the modules
possess adaptable robotic parameters – to adjust the size and
connecting angles of the modules according to the
requirement. Given the degrees of freedom of the
manipulator and the link and the joint parameters (D-H
parameters in this paper), the modules are configured and
assembled to develop the required manipulator. Assemblies
of the modules for two standard configurations are
presented in this paper to demonstrate the proposed
strategy.
