DocumentCode :
297034
Title :
Configuration independent kinematics for modular robots
Author :
Chen, I-Ming ; Yang, Guilin
Author_Institution :
Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore
Volume :
2
fYear :
1996
fDate :
22-28 Apr 1996
Firstpage :
1440
Abstract :
A modular robotic system consists of standardized joint and link units that can be assembled into a number of different kinematic configurations. This paper describes the design and kinematic issues of a newly developed modular robot aimed for assembly tasks. All modules are designed as cubic units. There are connecting interfaces, termed connecting ports, on all faces of the cubes so that different kinematic configurations can be achieved by just re-connecting the modules into different ports. A graph based representation scheme, termed assembly incidence matrices (AIM), is employed to indicate the ever changing configurations. The dyad kinematics based on product-of-exponentials formula is introduced. Using dyad kinematics along with a graph traversing algorithm, the authors are able to derive forward kinematics for a modular robot with specific configuration automatically. This formulation can be applied to modular robots with hybrid geometries and is demonstrated by a 3-DOF serial modular robot example
Keywords :
assembling; graph theory; industrial robots; matrix algebra; robot kinematics; 3-DOF serial modular robot; assembly incidence matrices; assembly tasks; configuration independent kinematics; dyad kinematics; forward kinematics; graph based representation scheme; graph traversing algorithm; hybrid geometries; kinematic configurations; modular robots; product-of-exponentials formula; Computational geometry; Consumer electronics; Joining processes; Kinematics; Microelectronics; Production engineering; Prototypes; Robotic assembly; Robotics and automation; Robots;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
ISSN :
1050-4729
Print_ISBN :
0-7803-2988-0
Type :
conf
DOI :
10.1109/ROBOT.1996.506908
Filename :
506908
Link To Document :
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