Rapid response manufacturing through a rapidly reconfigurable robotic workcell
This article describes the development of a component-based technology robot workcell that can be rapidly configured to perform a specific manufacturing task. The workcell is conceived with standard and inter-operable components including actuator modules, rigid link connectors and tools that can be...
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| Published in | Robotics and computer-integrated manufacturing Vol. 17; no. 3; pp. 199 - 213 |
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| Main Author | |
| Format | Journal Article |
| Language | English |
| Published |
Elsevier Ltd
01.06.2001
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| Subjects | |
| Online Access | Get full text |
| ISSN | 0736-5845 1879-2537 |
| DOI | 10.1016/S0736-5845(00)00028-4 |
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| Abstract | This article describes the development of a component-based technology robot workcell that can be rapidly configured to perform a specific manufacturing task. The workcell is conceived with standard and inter-operable components including actuator modules, rigid link connectors and tools that can be assembled into robots with arbitrary geometry and degrees of freedom. The reconfigurable “plug-and-play” robot kinematic and dynamic modeling algorithms are developed. These algorithms are the basis for the control and simulation of reconfigurable robots. The concept of robot configuration optimization is introduced for the effective use of the rapidly reconfigurable robots. Control and communications of the workcell components are facilitated by a workcell-wide TCP/IP network and device-level CAN-bus networks. An object-oriented simulation and visualization software for the reconfigurable robot is developed based on Windows NT. Prototypes of the robot workcells configured to perform the light-machining task and the positioning task are constructed and demonstrated. |
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| AbstractList | This article describes the development of a component-based technology robot workcell that can be rapidly configured to perform a specific manufacturing task. The workcell is conceived with standard and inter-operable components including actuator modules, rigid link connectors and tools that can be assembled into robots with arbitrary geometry and degrees of freedom. The reconfigurable “plug-and-play” robot kinematic and dynamic modeling algorithms are developed. These algorithms are the basis for the control and simulation of reconfigurable robots. The concept of robot configuration optimization is introduced for the effective use of the rapidly reconfigurable robots. Control and communications of the workcell components are facilitated by a workcell-wide TCP/IP network and device-level CAN-bus networks. An object-oriented simulation and visualization software for the reconfigurable robot is developed based on Windows NT. Prototypes of the robot workcells configured to perform the light-machining task and the positioning task are constructed and demonstrated. |
| Author | Chen, I-Ming |
| Author_xml | – sequence: 1 givenname: I-Ming surname: Chen fullname: Chen, I-Ming email: michen@ntu.edu.sg organization: School of Mechanical and Production Engineering, Nanyang Technological University, Nanyang Ave, Singapore 639798, Singapore |
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| Cites_doi | 10.1115/1.2916904 10.1109/ROBOT.1995.525759 10.1002/(SICI)1097-4563(199711)14:11<807::AID-ROB4>3.0.CO;2-Y 10.1016/0048-7333(94)00775-3 10.1109/ROBOT.2000.844845 10.1109/ROBOT.1997.620087 10.1109/ROBOT.1997.606873 10.1109/ROBOT.1988.12291 10.1016/S0094-114X(99)00021-X 10.1115/1.2805408 10.1177/027836499901800207 10.1109/ROBOT.2000.844106 10.1002/(SICI)1097-4563(199904)16:4<213::AID-ROB2>3.0.CO;2-Z 10.1109/ROBOT.1995.525575 |
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| References_xml | – reference: Yang G, Chen I-M, Lim WK, Yeo SH. Design and kinematic analysis of modular reconfigurable parallel robots. Proceedings of the IEEE International Conference on Robotics and Automation, Detroit, USA, 1999. p. 2501–6. – reference: Gao Y. Decomposable closed-form inverse kinematics for reconfigurable robots using product-of-exponentials formula. Master of engineering thesis, School of Mechanical and Production Engineering, Nanyang Technological University, Singapore, 2000. – year: 1994 ident: BIB30 publication-title: Cellular robotics, micro robotic systems – volume: 114 start-page: 117 year: 1992 end-page: 125 ident: BIB6 article-title: Conceptual design of a modular robot publication-title: ASME J Mech Des – reference: Han J, Chung WK, Youm Y, Kim SH. Task based design of modular robot manipulator using efficient genetic algorithm. Proceedings of the IEEE International Conference on Robotics and Automation, Albuquerque, NM, USA, 1997. p. 507–12. – volume: 18 start-page: 225 year: 1999 end-page: 242 ident: BIB14 article-title: Kernel for modular robot applications — automatic modeling techniques publication-title: International J Robotics Res – reference: Fukuda T, Nakagawa S. Dynamically reconfigurable robot system. Proceedings of the IEEE International Conference on Robotics and Automation, 1988. p. 1581–6. – reference: Rus D, Vona M. A physical implementation of the self-reconfiguring crystalline robot. Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, USA, 2000. p. 1726–33. – volume: 16 start-page: 213 year: 1999 end-page: 225 ident: BIB17 article-title: Numerical inverse kinematics for modular reconfigurable robots publication-title: J Robotics Systems – reference: Yang G, Lim WK. End-effector calibration for a self-calibrated modular parallel robot. Technical Report, School of Mechanical & Production Engineering, Nanyang Technological University, 2000. – volume: 35 start-page: 517 year: 2000 end-page: 540 ident: BIB24 article-title: Task-based optimization of modular robot configurations — MDOF Approach publication-title: Mech Mach Theory – reference: Paredis CJJ, Khosla PK. Agent based design of fault tolerant manipulators for satellite docking. Proceedings of the IEEE Conference on Robotics and Automation, Albuqureque, NM, USA, 1997. p. 3473–80. – reference: Murata S, Kurokawa H, Kokaji S. Self-assembling machine. Proceedings of the IEEE Conference on Robotics and Automation, San Diego, CA, USA, 1994. p. 441–8. – reference: Ramachandran S, Chen I-M. Distributed agent based design of modular reconfigurable robots. Proceedings of the 5th International Conference on Computer Integrated Manufacturing, Singapore, 2000. p. 447–58. – reference: Matsumaru T. Design and control of the modular robot system: TOMMS. Proceedings of the IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995. p. 2125–31. – reference: Hollis R, Quaid A. An architecture for agile assembly. Proceedings of the American Society of Precision Engineering, 10th Annual Meeting, Austin, TX, 1995. – reference: Paredis CJJ. et al, A rapidly deployable manipulator system. International Workshop on Some Critical Issues in Robotics, Singapore, 1995. – reference: Chen PCY, Chen I-M. An enumerative approach to scheduling of reconfigurable manufacturing workcells. Proceedings of the 5th International Conference on Control, Automation, Robotics, Vision, Singapore, 1998. p. 1664–8. – reference: Yang G, Chen I-M, Lim WK, Yeo SH. Design and self-calibration of modular parallel robots. SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Boston, MA, USA, 1999. p. 224–35, 1999. – reference: Ho HL, Chen PCY, Chen I-M. Model and control synthesis of a manufacturing workcell. 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| Title | Rapid response manufacturing through a rapidly reconfigurable robotic workcell |
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