Dynamically reconfigurable modular design of a new type of mobile manipulator joint system

摘要

With mobile manipulator forearm joint as the research object, a new type of dynamically reconfigurable modular joint system is designed for mobile manipulator joint system on bearing capacity, the structure arrangement, etc. Through the design of joint module mechanical interface and driver interface, mobile manipulator can change configuration and performance to complete different tasks according to actual needs, which has good flexibility and expansibility, saves the design cycle and reduces production cost.