Title :
Modular robots in parallelogram system
Author :
Svetlík, Jozef ; Daneshjo, Naqib
Author_Institution :
Dept. of production Syst. & Robot., Tech. Univ. of Kosice, Kosice
Abstract :
A modular reconfigurable robot system has the advantage to provide an optimal robot configuration for a specific task. With fewer modules and degrees of freedom (DOFs), a modular robot would have a simple configuration, high loading capacity, and low power consumption rate, so that it can perform the task effectively. A weighted sum of the number and types of modules is chosen as the objective function. Two three-legged reconfigurable parallel robot configurations are actually built according to the proposed design procedure.
Keywords :
flexible manipulators; legged locomotion; manipulator kinematics; degrees of freedom; modular reconfigurable robot system; parallelogram system; three-legged parallel robot configuration; Actuators; Computational geometry; Kinematics; Leg; Manipulator dynamics; Orbital robotics; Parallel robots; Robot sensing systems; Robotics and automation; Service robots;
Conference_Titel :
Applied Machine Intelligence and Informatics, 2008. SAMI 2008. 6th International Symposium on
Conference_Location :
Herlany
Print_ISBN :
978-1-4244-2105-3
Electronic_ISBN :
978-1-4244-2106-0
DOI :
10.1109/SAMI.2008.4469173
