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.
