Abstract
Reconfigurable industrial robots constitute a key leverage to match geometric and technological features’ changes of processes and products. Current solutions of reconfigurable robots cannot guarantee strong industrial requirements of accuracy, speed and robustness. The present work proposes a design approach that determines the robots’ architectures and reconfigurability features by following three fundamental design steps: the construction of robotic joints and links; the robot (re)configuration based on ad hoc MILP Mixed Integer Linear Programming model; the robot torque assessment in critical poses. Results show up to 28 % gained benefits in performance compared to industrial monolithic robots in terms of customization, architectures and investments costs while guaranteeing the achievement of cutting edge performance.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Koren, Y., Heisel, U., Jovane, F., Moriwaki, T., Pritschow, G., Ulsoy, G., Van Brussel, H.: Reconfigurable manufacturing systems. CIRP Ann. Manuf. Technol. 48(2), 527–540 (1999)
Yim, M., Shen, W., Salemi, B., Rus, D., Moll, M., Lipson, H., Klavins, E., Chirikjian, G.: Modular self-reconfigurable robot systems. IEEE Robot. Autom. Mag. 14(1), 43–52 (2007)
Stoy, K., Brandt, D., Christensen, D.J.: Self-reconfigurable Robots, An Introduction. The MIT Press, Massachusetts (2010)
Liedke, H., Heinz, W.: CoBoLD—a bonding mechanism for modular self-reconfigurable mobile robots. In: Proceedings of IEEE International Conference on Robotics and Biomimetics, pp. 2025–2030. Phuket, Thailand (2011)
Xinan, P., Hongguang, W., Yong, J., Cen, Y.: Research on kinematics of modular reconfigurable robots. In: Proceedings of IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, pp. 91–96. Kunming, China, (2011)
Vonasek, V., Saska, M., Kosnar, K., Preucil, L.: Global motion planning for modular robots with local motion primitives. In: Proceedings of IEEE International Conference on Robotics and Automation, pp. 2465–2470. Karlsruhe, Germany (2013)
Ben-Tzvi, P., Moubarak, P.: Modular and reconfigurable mobile robotics. Robot. Autonom. Syst. 60, 1648–1663 (2012)
Bonani, B., Groß, R.: Autonomous self-assembly in swarm-bots. In: IEEE Transaction on Robotics (2006)
Pozna, C.: Modular robots design concept and research directories. In: 5th International Symposium on Intelligent Systems and Informatics, SISY 2007. Subotica, Serbia (2007)
Shirmohammadi, B., Yim, M.: Towards robotic self-reassembly after explosion. In: Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems. San Diego, CA, USA (2007)
Bruzzone, L., Razzoli, R., Acaccia, G.: A modular robotic system for industrial applications. Assembly Autom. 28, 151–162 (2008)
Xie, Z., Zhang, Q., Wang, B., Liu, Y.: HIT-ARM I high speed dexterous robot arm. In: Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics. Guangzhou, China (2012)
SCHUNK. [Online]. Available: http://www.mobile.schunk-microsite.com
www.modbot.com. Modbot [Online]
Xijian, H., Yiwei, L., Li, J., Hong, L.: Design and development of A 7-DOF humanoid arm. In: Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics. Guangzhou, China (2012)
Xinan, P., Hongguang, W., Yong, J., Cen, Y.: Research on kinematics of modular reconfigurable robots. In: Proceedings of IEEE International Conference on Cyber Technology in Automation, Control, and Intelligent Systems, pp. 91–96. Kunming, China (2011)
Birge, J.R., Louveaux, F.V.: Introduction to Stochastic Programming. Springer, London (1997)
Tolio, T., Valente, A.: A stochastic programming approach to design the production system flexibility considering the evolution of the part families. IJMTM Special Issue Reconfigurable Manuf. Syst. 17(1), 42–67 (2009)
Terkaj, W., Tolio, T., Valente, A.: Design of focused flexibility manufacturing systems (FFMSs). In: Chapter 7 in: Design of Flexible Production Systems—Methodologies and Tools, pp. 137–190. Heidelberg (2009)
Valente, A., Carpanzano, E.: Development of multi-level adaptive control and scheduling solutions for shop-floor automation in reconfigurable manufacturing systems. CIRP Ann. Manuf. Technol. 60(1), 449–452 (2011)
Acknowledgments
The research has been partially funded by FP7 EU Project “white’R white room based on Reconfigurable robotic Island for optoelectronics”. The author would like to profoundly thank Eng. Ivan Brugnetti for his instrumental support in the mechanical design of the joint and link modules of the robot.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2016 Springer International Publishing Switzerland
About this paper
Cite this paper
Valente, A. (2016). Reconfigurable Industrial Robots—An Integrated Approach to Design the Joint and Link Modules and Configure the Robot Manipulator. In: Ding, X., Kong, X., Dai, J. (eds) Advances in Reconfigurable Mechanisms and Robots II. Mechanisms and Machine Science, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-319-23327-7_67
Download citation
DOI: https://doi.org/10.1007/978-3-319-23327-7_67
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-23326-0
Online ISBN: 978-3-319-23327-7
eBook Packages: EngineeringEngineering (R0)