Flexible modular robotics link design

摘要

A modular robotic link joint was designed for customized n DOF robot preparation. It was observed that a 6 DOF robot is capable of doing general tasks, but in real world industries the tasks are very specific-where in many cases the 6 DOF are redundant as well as cost intensive. Furthermore, the robot flexibility cannot be achieved by changing the program alone. The mechanical means of reconfiguring robot type must be done in parallel to program change for desired application. Keeping in mind with the flexibility of specific robot for specific tasks, a new modular robotic link joint was designed. This modular robotic is a set of link joint, adapter, reducer and motor bracket module that can be assembled and reassembled to make a chain of kinematics structure for any type of robot classification of n DOF. A few things need to be considered when preparing such a module: (i) the minimum variation of shape and form; (ii) the module size variation to tailor payload and structural requirement; (iii) to decouple the reducer and critical component for improving the robot performance; and (iv) method for user selection of robot. This unique piece of mechanical combination has the capability of changing its link length, configuration, motor power, reduction ratio and mechanical interface to another piece of such a set. The cost and performance of this mechanically flexible configuration and n DOF "specific robot for specific tasks" will be excellent related to commercially available robots. Moreover, the troubleshooting, maintenance and performance improvement of this robot will be simple.