Modelling and simulation of basic robotic configurations using D–H parameters based adaptive modules

Abstract

Selection of a suitable robotic manipulator, out of the available conventional configurations, is one way to employ a robot. However, with the increasing applications of robotic assistance, the concept of task-oriented customised design for prescribed working locations in a given environment, has got attention of several researchers. One of the challenges in this direction is the realisation of specific designs, involving unconventional values of robotic parameters. This paper discusses the D–H parameters based adaptive modules, which can be adjusted according to the given values of robotic parameters. The modules are available in three types with similar architecture. The details of this basic length unit, adaptive twist unit and extended length unit are discussed. Focus of the work is to validate the adaptability of the proposed architecture through the modelling, simulation and development of standard configuration.