Customization of manipulator configurations using modularity and reconfigurability aspects is receiving much attention. Modules presented so far in literature deals with the conventional and standard configurations. This paper presents the 3D printable, light-weight and unconventional modules: MOIRs' Mark-2, to develop any custom `n'-Degrees-of-Freedom (DoF) serial manipulator even with the non-parallel and non-perpendicular jointed configuration. These unconventional designs of modular configurations seek an easy adaptable solution for both modular assembly and software interfaces for automatic modeling and control. A strategy of assembling the modules, automatic and unified modeling of the modular and reconfigurable manipulators with unconventional parameters is proposed in this paper using the proposed 4 modular units. A reconfigurable software architecture is presented for the automatic generation of kinematic and dynamic models and configuration files, through which, a designer can design, validate using visualization, plan and execute the motion of the developed configuration as required. The framework developed is based upon an open source platform called as Robot Operating System (ROS), which acts as a digital twin for the modular configurations. For the experimental demonstration, a 3D printed modular library is developed and an unconventional configuration is assembled, using the proposed modules followed by automatic modeling and control, for a single cell of the vertical farm setup.
翻译:使用模块化和重新配置的操纵器配置的自定义正在引起人们的极大关注。迄今为止在文献中介绍的模块涉及常规和标准配置。本文件介绍了3D打印、轻量和非常规模块:MOIRs的Mark-2,以开发任何自定义的“n”- Degrees-of-F(DoF)自由(DoF)”序列操纵器,即使使用非平行和非平行的组合组合组合组合。这些模块配置的非常规设计为模块组合和自动建模和控制软件界面寻求一个容易调整的解决方案。本文提出了模块组合战略,采用非常规操作系统自动和统一的模型对模块和可重新配置的模块进行自动和统一建模。一个可重新配置的软件架构,用于自动生成动态和动态模型和配置文件,通过该模块设计师可以设计、使用可视化的验证、规划和实施发达配置的组合。开发的框架以名为“机器人操作系统(ROS)”的开放源平台为基础。本文中提议采用非常规型模块,该模块是用于制作的自动模块配置的自动模块配置。