Papers by Keyword: Modular Robot

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Authors: Min Kyu Park, Seok Jo Go, Young Jin Lee, Kum Gil Sung
Abstract: This article is dealing with a modular electro-mechanical actuator (EMA). Modular EMA consists of harmonic reducer, servo motor, electric brake, multi-turns absolute encoder, drive, network board. There are various modular EMAs in the market. Most of them are used for toys and educational device. In this research, we are more focused on an industrial high power (400W) modular EMA. All of components are designed and fabricated as hollow shaft type module for applying an industrial robotic system in the future. The robot which is linked to the modular EMA is easily able to assemble and disassemble or reconfigure it. We try to implement a modular EMA and this tries to be verified through an experiment.
Authors: Bogdan Grămescu, Constantin Niţu
Abstract: The paper presents a modular robot, designed for reconfiguring, in order to achieve both walking and crawling motion. Each module has 2 DOFs (rotations). Six modules can be connected to form a four-legged structure or an open chain. The robot has self-reconfiguring skills and is able to perform creeping/walking motion. A distributed control is accomplished, each module having its own controller and RF transmitter-receiver pair, for communication with the host computer.
Authors: Yu Jie Cui
Abstract: This paper presents a modular robot called RBT-6T/S01SM. This robot composed of 6 basic modules which could composed 5 kinds of robot. Each module owns one rotational degree of freedom. The total combined robot RBT-6T/S01SM features an easy-to-build mechanical structure. A formulation of this robot is educed based on Denevit and Hartenberg in this paper.The kinematics is studied and inverse kinematics is obtained based on algebraic method. The kinematics simulation of RBT-6T/S01SM is presented based on Matlab. The effectiveness of kinematics equations is verified by the simulation results.
Authors: Jian Bing Tang, Ya Bing Zha
Abstract: Modular robot is an approach to build the robot for various complex tasks with the promise of great versatility, robustness and lower cost. It can be used extensively to meet the demands of different tasks or different working environments by changing its shapes. Therefore, they can travel over or through obstacles, and go though small pipe. Even they can walk somewhat like a person on crutches. It is a key technology that how modular robot with vision to capture exact image information, as well as to extract the feature parameters of components real-timely, to recognize the component types, and to judge the position and posture of component. The quantity of the motion pattern will decide the adjustable ability of modular robot. So, dynamic vision control system is very important for modular robot, which can improve its moving ability and intelligent degree. With the help of the dynamic vision control system, the robot can accomplish different tasks in different working environments by itself, such as deciding routes and avoiding obstacles. In this paper, in order to improve the vision of modular robot, a kind of dynamic vision control system is analyzed and researched roundly, and two kinds of motion patterns for the modular robot are put forward.
Authors: Xue Feng Zhou, Li Jiang, Chuan Wu Cai, Hai Fei Zhu
Abstract: Modules have been widely used in development of various robots including reconfigurable robots. To build robots flexibly and quickly with low costs, we have developed two basic joint modules and several functional modules including grippers, suckers and wheels/feet as end-effectors. In this paper, we introduce the development of these modules, and present several novel robots built using them. Specifically, we show how to use them to set up a manipulator, a 6-DoF biped walking robot, a wheeled mobile robot, a biped tree-climbing robot, and a biped wall-climbing robot. It has been shown that a few modules can easily spawn a variety of novel robots with modular methodology.
Authors: Ricardo Andres Castillo Estepa, Oscar Gerardo Rubiano Montaña, Camilo Andrés Hurtado Erasso
Abstract: This project shows the simulation of a robotic modular system. It has one kind of module, which can couple with two more. The modules have five degrees of freedom (DOF), and can move in four different ways: independent module mode, caterpillar mode, snake mode and wheel mode. The last three kinds of movements need to have several modules coupled. Each module can move either using two pivots at its ends or by using tiny wheels that allow it to move in a direction that is perpendicular to the direction it follows when using its pivots; these gyratory elements also allow the module to rotate around one of its ends. The system controls based on sine functions.
Authors: Bin He, Xiao Lin He, Li Zhi Han, Jin Tao Cao, Ming Li, Ying Zhong Tian
Abstract: Robot working space is an important kinematic indicator. After the modular service robot arm was introduced, DH coordinate system was used to build kinematics equations of 5-DOFs services robot arm. The whole working space model of the robot system was then established. Monte Carlo method was used to simulate the working space, which can straightforwardly and visually describe the working space of robot with high speed. It was indicated that the working points in the workspace of the robot were distributed compactly and uniformly, which can meet design requirements with high efficiency. The effectiveness of the working space model was testified by the simulation analysis on Matlab and experimental validation.
Authors: Akos Csiszar, Cornel Brisan
Abstract: This paper presents a modular method to compute the workspace of parallel robot with 6 degrees of freedom. For the generation of the workspace also the mechanical constrains of both the active and passive joints are taken into consideration.
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