Ccccombo breaker is a motorized, battery powered, 3d printed, arduino based device that can crack any master combination lock in less than 30 seconds. Unlike conventional reconfigurable robots, our design does not achieve reconfigurability by utilizing modular joints. A parallel kinematic machine pkm is known to achieve high precision and heavy load capacity but with the sacrifice of large workspace and high dexterity. Several cost functions are investigated such as the manipulability measure, maximum forcetorque capability of the. Architecture design and optimization of an onthefly reconfigurable parallel robot. Docking interfaces of different reconfigurable robots in the chain, lattice and hybrid architectures.
Katz, reuven, design principles of reconfigurable machines. The article presents a class of reconfigurable modular parallel robots stemming from the 3cps underactuated topology. Optimal design parameters of reconfigurable robots with lockable joints gabriel zeinoun1, ramin sedaghati1 and farhad aghili2 1department of mechanical engineering, concordia university, montreal. For a deeper understanding of how the joint will affect the robot mobility, a description of its structure is provided in the following. Modular selfreconfigurable robots present wide and unique. Qrpara has a tripod architecture with two lockable passive revolute joints in each leg. This paper only focuses on the reconfiguration process of a 6dof manipulator with two lockable passive cylindrical joints.
Unified kinematics and optimal design of a 3rrps metamorphic parallel mechanism with a reconfigurable revolute joint. Parsa, a reconfigurable robot with lockable cylindrical joints, ieee transactions on robotics, vol. Details on the design of a lockable spherical joint for robotic applications. A tree topology for a kinematic chain has a set of common joints splitting on. Variable topology trusses vtt are a new class of selfreconfigurable robot. Optimization of a reconfigurable manipulator with lockable cylindrical joints and submitted in partial fulfillment of the requirements for the degree of m.
A reconfigurable robot with lockable cylindrical joints. The paper presents a new paradigm and conceptual design for reconfigurable robots. The paper proposes the mechanical design of a lockable spherical joint, which is designed to be manually or automatically configured in different kinematic solutions. Introduction metamorphic or self reconfigurable robots offer a. Optimization of a reconfigurable manipulator with lockable. Such a versatile and agile robot is particularly suitable for space application for its. Motion planning for a novel reconfigurable parallel. Combo breaker motorized combo lock cracking device youtube. This paper presents a new conceptual design for reconfigurable robots. The passive joints will become controllable when the robot forms a closed kinematic chain. Minimally actuated robot arm has lots of joints, just one. Singularity analysis of 2r1p spherical parallel mechanisms. In this paper we discuss the conguration control and recalibration of a different class of recongurable robots, one which is equipped with lockable cylindrical joints with no actuators or sensors. Read design and analysis of reconfigurable parallel robots with enhanced stiffness, mechanism and machine theory on deepdyve, the largest online rental service for scholarly research with thousands of academic publications available at your fingertips.
Historical perspectives and state of the art in joint force sensory feedback control of manipulation robots volume 11 issue 2 dragan stockic, miomir vukobratovic. Beyond conventional actuation, sensing and control typically found in fixedmorphology robots, selfreconfiguring robots are also able to deliberately change their own shape by rearranging the connectivity of their parts, in order to adapt to new. Proposed here is a conceptual design where the spherical joint which connects each leg to the endeffector is realized as a combination of revolute pairs. Details on the design of a lockable spherical joint for. The cube is assembly of two parts made by splitting cubic structure of 10 cm. Motion planning for a novel reconfigurable parallel manipulator with lockable revolute joints. A reconfigurable robot with lockable cylindrical joints article pdf available in ieee transactions on robotics 254. Analysis of reconfigurable 2dof machinery for intelligent. Architecture design and optimization of an onthefly. Optimal design parameters of reconfigurable robots with lockable joints article pdf available in transactions canadian society for mechanical engineering 411 march 2017 with 191 reads. In this paper we introduce a family of reconfigurable parallel robots with enhanced static characteristics with only as many actuators as the required instantaneous mobility. Unlike conventional reconfigurable robots, our design does not. Dynamics solution of n dof global machinery model deepdyve. The international journal of advanced manufacturing technology.
Modular selfreconfiguring robotic systems or self reconfigurable modular robots are autonomous kinematic machines with variable morphology. Except for the reconfiguration happening in the individual robot, multiple robots can also joint together to form a new configuration. Modeling, control and simulation of a 6dof reconfigurable. The advantages of reconfigurable robots have been discussed in the specialized literature. Reconfigurable manipulators can be very advantageous in dexteritydemanding tasks such as space operations.
Read dynamics solution of n dof global machinery model, robotics and computerintegrated manufacturing on deepdyve, the largest online rental service for scholarly research with thousands of academic publications available at your fingertips. Parsaa reconfigurable robot with lockable cylindrical joints. Pdf modular and reconfigurable mobile robotics researchgate. By allan daniel finistauri, fengfeng jeff xi and brian petz. By alternatively locking different sets of lockable joints, qrpara can be utilized as both a positional or orientational parallel manipulator, equivalent to 5. Such a robot can be as versatile and agile as a hyper.
By having one robot that can handle many jobs, astronauts. The kinematics and recalibration of this kind of reconfigurable robot are thoroughly analyzed. Such a versatile and agile robot is particularly suitable for space application for its simple, compact, and light design. Conventionally, reconfigurability was a direct result of using modular joints. Conventionally, reconfigurability was a direct result of using a robot with adjustable dh parameters ieee conference publication. Current trends in reconfigurable modular robots design. A motor that travels along unactuated joints makes for a flexible, reconfigurable manipulator. Pdf details on the design of a lockable spherical joint. Integrated and adaptive locomotion and manipulation for self reconfigurable robots.
Also, each passive joint is equipped with a builtin brake mechanism that is normally locked, but the lock can be released whenever the parameters are to be changed. The development of robots has shown itself as a very complex interdisciplinary research field. Nested reconfigurable robots sutdmit international design. Space robot can autonomously reconfigure itself 15 june 2009, by lisa zyga by connecting their endpoints, two reconfigurable robots autonomously change their configurations by altering the. This is achieved by incorporating a spherical joint within the. Although self reconfigurable robots seem to have general purposes, manually configurable robots are usually task specific. Design and analysis of reconfigurable parallel robots with. A stochastic programming approach for designing and assembling robotic arms, robotics and computerintegrated manufacturing on deepdyve, the largest online rental service for scholarly research with thousands of academic publications available at. Rather, the robot is equipped with passive joints, i. A robot with adjustable dh parameters ieee conference. After achieving the desired configuration, the cylindrical joints are locked again, the endeffector is released and robot enters the operation mode.
Regarding reconfiguration, it has been shown that although the trends have usually been to build self reconfigurable robots, in the last years many manually configurable robots have also appeared. Pdf a reconfigurable robot with lockable cylindrical joints. Poweroptimized motion planning of reconfigured redundant. Second, it releases the builtin locks of its cylindrical joints to enable the reconfiguration of the links. A three axis concentric multilink spherical joint capable of expansion and. Pdf this paper presents a new conceptual design for reconfigurable robots. Design and kinematic analysis of a 3rrls metamorphic. Design of a lockable spherical joint for a reconfigurable. Reconfigurable modular robots with bluetooth control. A new class of reconfigurable parallel kinematic machines. The vtt can reconfigure by merging and splitting these truss nodes. Design and analysis of reconfigurable parallel robots with enhanced stiffness.
Pdf optimal design parameters of reconfigurable robots. It details the engineering of a new modular, autonomously reconfigurable serial manipulator platform, termed the mars. Modeling, control and simulation of a 6dof reconfigurable space manipulator with lockable cylindrical joints. Analysis of reconfigurable 2dof machinery for intelligent manufacturing systems. Therefore different configurations can be chosen according to user needs. A robot designed to work in space should ideally be a jack of all trades, with the ability to perform a wide variety of tasks by itself. Home browse by title proceedings icira 20 modeling, control and simulation of a 6dof reconfigurable space manipulator with lockable cylindrical joints article modeling, control and simulation of a 6dof reconfigurable space manipulator with lockable cylindrical joints. This thesis presents a global optimization methodology to find the optimal denavithartenbeg parameters of a serial reconfigurable robotic manipulator maximizing a cost function over a prespecified workspace volume and given lower and upper bounds on the design parameters. Reconfigurable modular robots with bluetooth control vishnu santhosh1, adarsh k sudarsan2, angel mariya varghese3, minnu mathukutty4, athira prasad5 1,2,3,4 student, dept. Modular self reconfigurable robots present wide and unique solutions for growing demands in the domains of space exploration, automation, consumer products, and so forth. First, the lockable spherical ls joint, a new metamorphic joint that can function as a hooke ls 1 or spherical. Twistlock pose estimation and grasping based on cad model. In this paper we discuss the configuration control and recalibration of a different class of reconfigurable robots, one which is equipped with lockable cylindrical joints with no actuators or sensors. The design of an industrial robot involves a number of conflicting objectives in general.
The robot enters the reconfiguration phase in two steps. Historical perspectives and state of the art in joint. The predominant procedure for these developments in the last decades is based on the assumption that each robot is a fully personalized project, with the direct embedding of hardware and software technologies in robot parts with no level of abstraction. The latter, which is our manipulator type of interest. The paper identifies a set of desired features and operation constraints for the joints, and describes our current design for the connectors. The higher utilization factor and selfhealing capabilities are most demanded traits in robotics for real world applications and modular robotics offer better solutions in these perspectives in relation to traditional.
1339 670 475 675 1598 470 651 256 544 455 306 1215 1037 666 1008 117 704 1527 595 174 1130 762 230 1161 1059 737 972 252 291 1452 983 699 228 13 1269 1012 688 62