A modular manipulator for industrial applications: Design and implement

摘要

In order to solve the problem that the long cycle and the repetitive work in the process of designing the industrial robot, a modular manipulator system developed for general industrial applications is introduced in this paper. When the application scene is changed, the corresponding robotic modules can be selected to assemble a new robot configuration that meets the requirements. The modules can be divided into two categories: joint modules and link modules. Joint modules consist of three types of revolute joint modules with different torque, and link modules mainly contain T link module and L link module. By connection of different types of modules, various of configurations can be achieved. Considering the traditional 6-DoF manipulators are difficult to meet the needs of the unstructured industrial applications, a 7-DoF redundant manipulator prototype is designed on the basis of the robotic modules.