Optimal Architecture Planning of Modules for Reconfigurable Manipulators

Modules are requisite for the realization of modular reconfigurable manipulators. The design of modules in literature mainly revolves around geometric aspects and features such as lengths, connectivity and adaptivity. Optimizing and designing the modules based on dynamic performance is considered as...

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Bibliographic Details
Published in:Robotica 2023-01, Vol.41 (1), p.16-30
Main Authors: Dogra, Anubhav, Padhee, Srikant Sekhar, Singla, Ekta
Format: Article
Language:English
Subjects:
SPECIAL SECTION ON ROBOT CUSTOMISATION
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Summary:Modules are requisite for the realization of modular reconfigurable manipulators. The design of modules in literature mainly revolves around geometric aspects and features such as lengths, connectivity and adaptivity. Optimizing and designing the modules based on dynamic performance is considered as a challenge here. The present paper introduces an Architecture-Prominent-Sectioning (APS) strategy for the planning of architecture of modules such that a reconfigurable manipulator possesses minimal joint torques during its operations. Proposed here is the transferring of complete structure into an equivalent system, perform optimization and map the resulting arrangement into possible architecture. The strategy has been applied on a set of modular configurations considering three-primitive-paths. The possibility of getting advanced/complex shapes is also discussed to incorporate the idea of a modular library.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574720001174