Modular Robotic Assistance in Cluttered Environments: A Broad-Spectrum of Industrial Applications

摘要

A broad perspective is presented for the utilization of modular robotic arms in various industrial tasks, particularly for cluttered environments. Parameters-based modules are proposed to develop reconfigurable manipulators according to the robotic parameters, resulting out of the design procedure. A brief description of the modules divisions and the optimal assembly planning is presented. Focus of the paper is the multi-layered approach for modules inventory, which can be referred as base for the further additions in the types of modules required in the library. A case study on a realistic problem of challenging welding sites is presented as one example of the upper layer of multi-layered spectrum. The results present the designed configurations and corresponding modular assembly.