Abstract:
The paper targets to develop a modular library for prototyping planar hybrid linkages using additive manufacturing, while suggesting an optimized selection of printing conditions, layering direction, and clearances. A safe range for pure tensile load has been estimated using FEM simulation to confirm usability in prototyping. Three modules have been designed to produce active, passive, and joint locking functionalities in the revolute joints and the fourth connectivity module helps to achieve the connectivity in between revolute joints of different linkages. It has been shown by developing the prototype for two different complex planer hybrid manipulators as examples, that these modules work as tools for the designer to design a customized manipulator. CAD modelling has been used for preparing a complete manipulator structure which, using AM, can be given the physical form.
In the design and manufacturing of robotic manipulators, incorporating modular libraries makes the design customizable as well as makes the process easier. With this approach, the user follows a drag and drop approach to customize a design using an already available set of modular components fulfilling different purposes. Further work will demonstrate the technique by preparing models some randomly selected linkages based upon the designed modules.
