Abstract
A broad perspective is presented for the utilization of modular robotic arms in various industrial tasks, particularly for cluttered environments. Parameters-based modules are proposed to develop reconfigurable manipulators according to the robotic parameters, resulting out of the design procedure. A brief description of the modules divisions and the optimal assembly planning is presented. Focus of the paper is the multi-layered approach for modules inventory, which can be referred as base for the further additions in the types of modules required in the library. A case study on a realistic problem of challenging welding sites is presented as one example of the upper layer of multi-layered spectrum. The results present the designed configurations and corresponding modular assembly.
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Acknowledgements
Authors gratefully acknowledge the financial support of Department of Science and Technology (DST), Govt. of India, for this work. Authors are also thankful to Ador fontech Ltd. for sharing their information for the challenging aspects of welding applications.
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Singh, S., Kaplish, A., Singla, E. (2016). Modular Robotic Assistance in Cluttered Environments: A Broad-Spectrum of Industrial Applications. In: Mandal, D.K., Syan, C.S. (eds) CAD/CAM, Robotics and Factories of the Future. Lecture Notes in Mechanical Engineering. Springer, New Delhi. https://doi.org/10.1007/978-81-322-2740-3_65
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DOI: https://doi.org/10.1007/978-81-322-2740-3_65
Publisher Name: Springer, New Delhi
Print ISBN: 978-81-322-2738-0
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