The monolithic design of serial robot arms has become widely accepted in industrial applications. One might note that these manipulators are designed in such a way that they can implement as many applications as possible at the same time and therefore do usually not have an application-specific structure. In this article we describe the construction and modeling of a kinematic chain in which a mechanical modification is possible. As a result, the structure of a serial robot can be adapted in a wide range. For this purpose, the links of the kinematic chain are modified in such a way that the robot structure matches the desired Denavit-Hartenberg parameter set. This means also that optimizations with different kinematic goals can be realized in order to flexibly adapt the robot system to a current task.
Task-dependent structural modifications on reconfigurable general serial manipulators
Gallina, Paolo;Seriani, Stefano;
2018-01-01
Abstract
The monolithic design of serial robot arms has become widely accepted in industrial applications. One might note that these manipulators are designed in such a way that they can implement as many applications as possible at the same time and therefore do usually not have an application-specific structure. In this article we describe the construction and modeling of a kinematic chain in which a mechanical modification is possible. As a result, the structure of a serial robot can be adapted in a wide range. For this purpose, the links of the kinematic chain are modified in such a way that the robot structure matches the desired Denavit-Hartenberg parameter set. This means also that optimizations with different kinematic goals can be realized in order to flexibly adapt the robot system to a current task.File | Dimensione | Formato | |
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