Name
Abstract | ||
|---|---|---|
The exploitation of robotic systems with more complex kinematic structures than those of conventional serial chains is widely perceived as one of the main avenues of development for robotics. The concept encompasses systems of different scales and characteristics, such as hybrid manipulators, multifingered hands, cooperative robotic arms walking machines, and so on. The underlying kinematic structure of these systems is the same in the sense that they can be regarded as combinations of modules. In this paper we aim to provide a framework for systematically identifying, classifying, and combining different modules of such manipulators. Hence, we introduce a formalism that comprises a set of definitions, a symbolic representation of modules, and a set of operations based on the kinematic structure, degree of actuation, and mobility of the modules. The proposed formalism allows us to efficiently analyze and synthesize modular manipulators according to their constituent kinematic modules. Moreover the foregoing operations can be easily performed in symbolic form, using commercial software, which makes their implementation generic and more useful. The information that is obtained from these operations provides a data base for either designing an inventory of modules or interchanging modules when an inventory of modules is available to the system. The application of the proposed formalism is demonstrated through a few examples, one of which pertains to a 7-DOF hybrid manipulator with parallel subchains, whose architecture is introduced here for the first time. |
Year | DOI | Venue |
|---|---|---|
1998 | 10.1177/027836499801700703 | INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH |
Keywords | Field | DocType |
energy conservation,degree of freedom,computer aided design | Robotic arm,Kinematics,Control theory,Computer Aided Design,Control engineering,Commercial software,Artificial intelligence,Modular design,Formalism (philosophy),Robot,Robotics,Mathematics | Journal |
Volume | Issue | ISSN |
17 | 7 | 0278-3649 |
Citations | PageRank | References |
1 | 0.40 | 3 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kourosh E. Zanganeh | 1 | 131 | 16.04 |
| Jorge Angeles | 2 | 102 | 22.85 |