Hostname: page-component-cd9895bd7-dk4vv Total loading time: 0 Render date: 2024-12-26T08:43:32.644Z Has data issue: false hasContentIssue false
  • English
  • Français

Optimal Architecture Planning of Modules for Reconfigurable Manipulators

Published online by Cambridge University Press:  18 December 2020

Anubhav Dogra Open the ORCID record for Anubhav Dogra [Opens in a new window] ,
Srikant Sekhar Padhee  and
Ekta Singla
Anubhav Dogra*
Affiliation:
Department of Mechanical Engineering, Indian Institute of Technology Ropar, Rupnagar, Punjab 140001, India E-mails: sspadhee@iitrpr.ac.in, ekta@iitrpr.ac.in
Srikant Sekhar Padhee
Affiliation:
Department of Mechanical Engineering, Indian Institute of Technology Ropar, Rupnagar, Punjab 140001, India E-mails: sspadhee@iitrpr.ac.in, ekta@iitrpr.ac.in
Ekta Singla
Affiliation:
Department of Mechanical Engineering, Indian Institute of Technology Ropar, Rupnagar, Punjab 140001, India E-mails: sspadhee@iitrpr.ac.in, ekta@iitrpr.ac.in
*
*Corresponding author. E-mail: 2016mez0019@iitrpr.ac.in
Rights & Permissions [Opens in a new window]

Summary

Core share and HTML view are not available for this content. However, as you have access to this content, a full PDF is available via the ‘Save PDF’ action button.

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.

Keywords

ModulesReconfigurableSerial manipulatorArchitecture designOptimization
Type
Research Article
Information
Robotica , Volume 41 , Issue 1 , January 2023 , pp. 16 - 30
Copyright
© The Author(s), 2020. Published by Cambridge University Press

References

Ahmadzadeh, H., Masehian, E. and Asadpour, M., “Modular robotic systems: Characteristics and applications,” J. Intell. Rob. Syst. 81(3–4), 317–357 (2016).CrossRefGoogle Scholar
Singh, S., Singla, A. and Singla, E., “Modular manipulators for cluttered environments: A task-based configuration design approach,” J. Mech. Rob. 10(5), 051010 (2018).CrossRefGoogle Scholar
Kereluk, J. A. and Emami, M. R., “Task-based optimization of reconfigurable robot manipulators,” Adv. Rob. 31(16), 836–850 (2017).CrossRefGoogle Scholar
Stravopodis, N., Valsamos, C. and Moulianitis, V. C., “An Integrated Taxonomy and Critical Review of Module Designs for Serial Reconfigurable Manipulators,” Proceedings of International Conference on Robotics in Alpe-Adria Danube Region (2019) pp. 3–11.Google Scholar
Singh, S. and Singla, E., “Realization of task-based designs involving DH parameters: A modular approach,” Intell. Serv. Robot. 9(3), 289–296 (2016).CrossRefGoogle Scholar
Liu, J., Zhang, X. and Hao, G., “Survey on research and development of reconfigurable modular robots,” Adv. Mech. Eng. 8(8), 1687814016659597 (2016).CrossRefGoogle Scholar
Icer, E., Hassan, H. A., El-Ayat, K. and Althoff, M., “Evolutionary Cost-Optimal Composition Synthesis of Modular Robots Considering a Given Task,” Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2017) pp. 3562–3568.Google Scholar
Campos, T., Inala, J. P., Solar-Lezama, A. and Kress-Gazit, H., “Task-Based Design of Ad-hoc Modular Manipulators,” Proceedings of IEEE International Conference on Robotics and Automation (ICRA) (2019) pp. 6058–6064.Google Scholar
Seonghun, H., Dongeun, C., Sungchul, K., Lee, H. and Lee, W., “Design of Manually Reconfigurable Modular Manipulator with Three Revolute Joints and Links,” Proceedings of IEEE International Conference on Robotics and Automation (ICRA) (2016) pp. 5210–5215.Google Scholar
Acaccia, G., Bruzzone, L. and Razzoli, R., “A modular robotic system for industrial applications,” Assembly Autom. 28(2), 151–162 (2008).CrossRefGoogle Scholar
Brandstoetter, M., Adaptable Serial Manipulators in Modular Design Doctoral Dissertation, Ph.D. Thesis, UMIT (2016).Google Scholar
Moulianitis, V. C., Synodinos, A. I., Valsamos, C. D. and Aspragathos, N. A., “Task-based optimal design of metamorphic service manipulators,” J. Mech. Rob. 8(6), 061011 (2016).CrossRefGoogle Scholar
Patel, S. and Sobh, T., “Manipulator performance measures-a comprehensive literature survey,” J. Intell. Rob. Syst. 77(3–4), 547–570 (2015).CrossRefGoogle Scholar
Chocron, O., “Evolutionary design of modular robotic arms,” Robotica 26(3), 323–330 (2008).CrossRefGoogle Scholar
Khan, W. A. and Angeles, J., “The kinetostatic optimization of robotic manipulators: The inverse and the direct problems,” J. Mech. Des. 128(1), 168–178 (2006).CrossRefGoogle Scholar
Mohamed, R. P., F. J. Xi and A. D. Finistauri “Module-based static structural design of a modular reconfigurable robot,” J. Mech. Des. 132(1), 014501 (2010).CrossRefGoogle Scholar
Ramirez, D., Kotlarski, J. and Ortmaier, T., “Combined Structural-Dimensional Synthesis of Robot Manipulators for Minimal Energy Consumption,” Proceedings of Tagungsband des 2. Kongresses Montage Handhabung Industrieroboter (2017) pp. 63–71.Google Scholar
Wei, B. and Zhang, D., “A review of dynamic balancing for robotic mechanisms,” Robotica, 1–17 (2020).CrossRefGoogle Scholar
Arakelian, V., Le Baron, J.-P. and Mottu, P., “Torque minimisation of the 2-DOF serial manipulators based on minimum energy consideration and optimum mass redistribution,” Mechatronics 21(1), 310–314 (2011).CrossRefGoogle Scholar
Chaudhary, K. and Chaudhary, H., “Optimal dynamic balancing and shape synthesis of links in planar mechanisms,” Mech. Mach. Theory 93, 127–146 (2015).CrossRefGoogle Scholar
Zhou, L. and Bai, S., “A new approach to design of a lightweight anthropomorphic arm for service applications,” J. Mech. Robot. 7(3), 031001 (2015).CrossRefGoogle Scholar
A. Dogra, Padhee, S. S. and Singla, E. “Towards Dynamics and Control of Modular Reconfigurable Manipulators,” Proceedings of the Advances in Robotics (AIR) (2019) pp. 1–6.Google Scholar
Chaudhary, H. and Saha, S. K., Dynamics and Balancing of Multibody Systems (1st ed., Vol. 37, Springer-Verlag, Berlin, Heidelberg, 2009).CrossRefGoogle Scholar
Gupta, V., Saha, S. K. and Chaudhary, H., “Optimum design of serial robots,” J. Mech. Des. 141(8), 082303 (2019).CrossRefGoogle Scholar
Fu, K. S., Gonzalez, R. and Lee, C. G., Robotics: Control Sensing. Vis. (Tata McGraw-Hill Education, New Delhi, India, 1987).Google Scholar
Dogra, A., Padhee, S. S. and Singla, E., “An optimal architectural design for unconventional modular reconfigurable manipulation system,” ASME. J. Mech. Des. 143(6), 063303 (2020).CrossRefGoogle Scholar
Brandstötter, M., Gallina, P., Seriani, S. and Hofbaur, M., “Task-Dependent Structural Modifications on Reconfigurable General Serial Manipulators,” Proceedings of International Conference on Robotics in Alpe-Adria Danube Region (2018) pp. 316–324.Google Scholar