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ModMan: An Advanced Reconfigurable Manipulator System with Genderless Connector and Automatic Kinematic Modeling Algorithm
IEEE Robotics and Automation Letters ( IF 5.2 ) Pub Date : 2020-07-01 , DOI: 10.1109/lra.2020.2994486
Alchan Yun , Deaho Moon , Junhyoung Ha , Sungchul Kang , Woosub Lee

With the current trend of dwindling life cycle of production, necessity of systems with high-adaptability is on the rise. With their high adaptability and easy maintenance, reconfigurable manipulators are strong candidates to replace conventional non-reconfigurable manipulators in such trend. However, most of existing reconfigurable robots are designed for non-industrial use and remained in laboratory level because of their low accuracy and low mechanical/electrical capacity. In this letter, we present our newly developed manually reconfigurable manipulator, ModMan, equipped with genderless connectors which feature high mechanical/electrical capacity and multi-DOF modules, which are to increase the number of possible configurations while minimizing loss of manipulator performance. An automatic kinematic modeling algorithm for reconfigurable manipulators is also presented to deal with complexities due to genderless connections and multi-DOF modules. Evaluations of repeatability of 6-DOF configuration are performed to prove that the performance of ModMan is comparable to existing non-reconfigurable manipulators. Experiments on reconfiguration of kinematics for arbitrary connections of modules are also demonstrated.

中文翻译:

ModMan:具有无性别连接器和自动运动建模算法的高级可重构机械手系统

在当前生产生命周期缩短的趋势下,高适应性系统的必要性正在上升。在这种趋势下,可重构机械手以其高适应性和易维护性成为替代传统不可重构机械手的有力候选者。然而,现有的可重构机器人大多是为非工业用途而设计的,并且由于其精度低和机械/电气容量低而停留在实验室水平。在这封信中,我们展示了我们新开发的手动可重构机械手 ModMan,它配备无性别连接器,具有高机械/电气容量和多自由度模块,可增加可能的配置数量,同时最大限度地减少机械手性能的损失。还提出了一种用于可重构机械手的自动运动学建模算法,以处理由于无性别连接和多自由度模块造成的复杂性。对 6 自由度配置的可重复性进行评估,以证明 ModMan 的性能与现有的不可重构机械手相当。还演示了针对模块任意连接重新配置运动学的实验。
更新日期:2020-07-01
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