Modular Reconfigurable Robots

Abstract

This thesis work presents design of a Parallel reconfigurable modular robot. The major objective of this thesis is to design a robot using modules that are cost effective, reduce downtime and are flexible. These modules can be assembled together to achieve various robot configuration. Parallel reconfigurable robot is designed taking modules commercially of the shelf (MCOTS). Taking an example of a robot Fanuc 200iB, robot is designed in order to show the possibility of a robot design using MCOTS. The best matched modules are examined through various company catalogs keeping consideration of factors like cost, modularity, actuation, safety, ease of repair, connection between them, etc. The modules are then designed in a CAD software Pro-engineer and then finally assembly is done. The benefits of using MCOTS related to user, manufacturer, and designer is also discussed in this thesis. Further in this thesis a design structure table is made which indicates the connectivity of components with each other and then design structure matrix (DSM) is made showing the between the components and the DSM is used to determine degree of modularity of product and modularity of each component is calculated using the concept of in-degree and out-degree of a components. At last MADM (multiple attribute decision making) approach, TOPSIS (Technique for Order Preference by Similarity to Ideal Solution) used to evaluate, rank and select parallel robot link.