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A New Modular, Autonomously Reconfigurable Manipulator Platform
Space Mechatronics Group, Institute for Aerospace Studies, University of Toronto.
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Rymdteknik.ORCID-id: 0000-0003-4977-6339
2015 (engelsk)Inngår i: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 12, artikkel-id 71Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

This paper discusses the design and development of a new Modular, Autonomously Reconfigurable Serial manipulator platform for advanced manufacturing, termed as the MARS manipulator. The platform consists of i) an 18-Degree-of-Freedom (DOF) serial-link manipulator capable of locking any of its joints at any position in their continuous range, such that it can emulate fewer-DOF serial manipulators with different kinematic and dynamic parameters, and ii) an integrated simulation and design environment that provides control over the manipulator hardware as well as a toolset for the design, implementation and optimization of a desired manipulator configuration for a given task. The effectiveness of the MARS manipulator to adapt its configuration to various tasks is examined by assuming two well-known configurations, SCARA and articulated, and by performing a specific task with each of them. The variation in effectiveness of the two configurations in terms of the end-effector trajectory, end-effector accuracy and power consumption is discussed. Further, these configurations are optimized with respect to their performance accuracy, and compared to their pre-optimized versions. Finally, the accuracy model of the simulation is compared against the physical hardware system, running the same task.

sted, utgiver, år, opplag, sider
2015. Vol. 12, artikkel-id 71
HSV kategori
Forskningsprogram
Rymdtekniska system
Identifikatorer
URN: urn:nbn:se:ltu:diva-5082DOI: 10.5772/60486ISI: 000357672600001Scopus ID: 2-s2.0-84938651225Lokal ID: 31a328cc-fb66-4241-9588-3f8be20d67efOAI: oai:DiVA.org:ltu-5082DiVA, id: diva2:977956
Merknad
Validerad; 2015; Nivå 2; 20150811 (andbra)Tilgjengelig fra: 2016-09-29 Laget: 2016-09-29 Sist oppdatert: 2018-07-10bibliografisk kontrollert

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