Towards Optimal Design of Modular Robotic Arms

Abstract

The space environment in industries is shrinking due to vast number of machines. The manipulator should have variability to change the DH parameters at the time of installation for such environment. Such variability comes from modular manipulators. Modularity is the key in state-of-the-art technology to accommodate changes in complex systems. Product modularization has resulted in advances for computers, electronics, and softwares. However, modular robotic systems sans this success. The modular link is a self-contained element of a modular manipulator. Modular manipulators are made up of inter-connecting simple, multiple and similar units. The arms of modular manipulators can be made by using same type of module. The modular link for development of a modular manipulator is presented in this thesis. The main aim for the development of modular link is to lower down the cost of fabrication for link-joint components used in manipulator by providing flexibility for variation in DH parameters of modular link. Module is developed in three parts which are joined with the help of keys. First and second parts have been used for variation in twist angle whereas second and third parts have been used for variation in link length. After development of module, analyses of modular link under different condition have been carried out using ANSYS software, which was used to optimize the design.