Abstract
Modular robot manipulator is a robotic system assembled from discrete joints and links into one of many possible manipulator configurations. This paper describes a task based design method of modular robot manipulators. A locking mechanism which provides quick coupling and decoupling is developed and a parallel connection method is devised reducing the number of components on each module. To automatically determine the optimal link lengths of modular manipulator for a given task, the algorithm is two step: determine the necessary configuration of robot using kinematic equations and then determine the optimal link length using the proposed efficient genetic algorithm. Some of design examples are shown.
| Original language | English |
|---|---|
| Pages (from-to) | 507-512 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 1 |
| State | Published - 1997 |
| Externally published | Yes |
| Event | Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA Duration: Apr 20 1997 → Apr 25 1997 |