Automated modeling of modular robotic configurations

Robotics and Autonomous Systems

Volumn 54, Issue 12, 2006, Pages 1015-1025

  Bi, Z M ^a   Gruver, W A ^b   Zhang, W J ^c   Lang, S Y T ^a  

^a NATIONAL RESEARCH COUNCIL CANADA   (Canada)

^b SIMON FRASER UNIVERSITY   (Canada)

^c UNIVERSITY OF SASKATCHEWAN   (Canada)

Author keywords

Automatic modeling; Computer aided design; Configuration design; Finite element method; Modular architecture; Modular robotic system; Reconfigurable robot

Indexed keywords

COMPUTER AIDED DESIGN; CONSTRAINT THEORY; FINITE ELEMENT METHOD; KINEMATICS; MATHEMATICAL MODELS;

AUTOMATIC MODELING; CONFIGURATION DESIGN; MODULAR ARCHITECTURE; MODULAR ROBOTIC SYSTEMS; RECONFIGURABLE ROBOTS;

ROBOTICS;

EID: 33845981096     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2006.04.017     Document Type: Article

References (29)

1. K.H. Wurst, The conception and construction of a modular robot system, in: Proceedings of the 16th International Symposium on Industrial Robotics, ISIR, Brussels, Belgium, 1986, pp. 37-44
2. Wurst K.H. LINAPOD-machine tools as parallel link systems based on a modular design. In: Boer C.R., Molinari-Tosatti L., and Smith K.S. (Eds). Parallel Kinematic Machines: Theoretical Aspects and Industrial Requirements. Advanced Manufacturing Series (1999), Springer-Verlag London Limited 377-394
3. Schmitz D.E., Khosla P.K., and Kanada T. The CMU reconfigurable modular manipulator system. Proceedings of the 19th International Symposium on Industrial Robots, ISIR (1989), Springer-Verlag, Sydney, New York 473-488
4. Tesar D., and Butler M. A generalized modular architecture for robot structures. Manufacturing Review 2 (1989) 91-117
5. Benhabib B., and Dai M.Q. Mechanical design of a modular robot for industrial applications. Journal of Manufacturing Systems 10 4 (1991) 297-304
6. Cohen R., and Lipton M.G. Conceptual design of a modular robot. Journal of Mechanical Design 114 (1992) 117-125
7. E. Nielsen, R. Huppi, MODRO: A modular concept for an application adapted robotics system, in: Proceedings of the 23rd International Symposium on Industrial Robots, Barcelona, Spain, 1992, pp. 495-500
8. Mulders P.C., Kreffer G.J., Bax W.H.M., and van der Wolf A.C.H. Design and modelling of a modular robot system. Annals of the CIRP 42 1 (1993) 429-432
9. Hooper R., and Tesar D. Computer-aided configuration of modular robotics systems. Computing & Control Engineering Journal (1994) 137-142
10. W. Walischmiller, O. Frager, TELBOT- A modular tele-robot system with infinite rotational motions of any joint, open control system architecture and integrated 3-D on-offline simulation, in: Proceedings of the 25th International Symposium on Industrial Robots, Hannover, Germany, 1994, pp. 627-633
11. T. Matsumaru, Design and control of the modular robot systems: TOMMS, in: Proceedings of the IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995, pp. 2125-2131
12. W.J. Schonlau, A modular manipulator system (MMS) architecture and implementation, in: Proc. of ICAR'97, Monterey, CA, 1997, pp. 901-906
13. C. Unsal, H. Kylyccote, P.K. Khosla, I(CES)-cube: A modular self-reconfigurable bipartite robotic system, in: Proceedings of SPIE, Vol. 3839: Sensor Fusion and Decentralized Control in Robotic Systems II, Boston, MA, 1999, pp. 258-269
14. S.R. Habibi, A.A Goldenberg, Design and control of a reconfigurable industrial hydraulic robot, in: Proceedings of the IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995, pp. 2206-2211
15. Jaenisch U., Miertschink M., Sperber W., and Tschakarow R. Power & Cube Operating Manual, Version. 1.10 (2000), AMTEC GmbH, Germany
16. Benhabib B., Zak G., and Lipton G. A generalized kinematic modelling method for modular robots. Journal of Robotic Systems 6 5 (1989) 545-571
17. Kelmar L., and Khosla P.K. Automatic generation of forward and inverse kinematics for reconfigurable modular manipulator systems. Journal of Robotic Systems 7 4 (1990) 599-619
18. C. I-Ming, Theory and applications of modular reconfigurable robotic systems, Ph.D. Thesis, Division of Engineering and Applied Science, California Institute of Technology, Pasadena, CA, 1994
19. G. Yang, Kinematics, dynamics, calibration, and configuration optimization of modular reconfigurable robots, Ph.D. Thesis, School of Mechanical and Production Engineering, Nanyang Technology University, Singapore, 1999
20. K. Van Der Werff, Kinematics and dynamics analysis of mechanisms - a finite element approach, Ph.D. Thesis, Delft university of Technology, 1977
21. Besseling J.F., and Gong D.G. Numerical simulation of spatial mechanisms and manipulators with flexible links. Finite Element in Analysis and Design 18 (1994) 121-128
22. Z. Yang, J.P. Sadler, Finite element modeling of spatial robot manipulators, flexible mechanisms, dynamics and robot trajectories, in: Proceedings of the ASME Design Technical Conference, 1990, pp. 489-496
23. Sadler J.P., Yang Z., and Askren B.A. Finite element methods for the design of mechanisms and robotic manipulators. International Journal of Computer Applications in Technology 7 3-6 (1994) 305-315
24. Bohatier C. A numerical method for mechanism equations automatic building. European Journal of Mechanics-A/Solids 9 4 (1990) 359-371
25. Bohatier C. Unilateral joints in mechanisms: Modeling and solution. Structural Dynamics and Vibration PD-42 (1993) 197-203
26. Xi F., Han W., Verner M., and Ross A. Development of a sliding-leg tripod as an add-on device for manufacturing. Robotica 18 (2001) 285-294
27. A. Ross, F. Xi, C. Mechefske, Varying topology of a reconfigurable parallel kinematic machine, in: Proceedings of the 1st CIRP International Conference on Reconfigurable Manufacturing, 2001
28. D. Zhang, C. Mechefske, F. Xi, Stiffness analysis of reconfigurable parallel mechanisms with prismatic actuators, in: Proceedings of the 1st CIRP International Conference on Reconfigurable Manufacturing, 2001
29. Xi F. A comparison study on hexapods with fixed-length legs. International Journal of Machine Tools and Manufacture 41 12 (2001) 1735-1748