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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
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Summary

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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

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