Conceptual Design of a Modular Robot

1992 ◽  
Vol 114 (1) ◽  
pp. 117-125 ◽  
Author(s):  
R. Cohen ◽  
M. G. Lipton ◽  
M. Q. Dai ◽  
B. Benhabib
Keyword(s):  
Conceptual Design ◽  
Job Shop ◽  
Mechanical Design ◽  
Industrial Robots ◽  
Modular Robots ◽  
Modular Robot ◽  
Ongoing Research ◽  
Flexible Automation ◽  
Modular Units ◽  
The Individual

In flexible automation approach to batch or job-shop production the main emphasis has always been on the re-programmability of the elements of a manufacturing system. The assumption that lies behind this philosophy is that “system flexibility” can be achieved through (mainly) software flexibility and limited hardware flexibility. Modular robots introduce a new dimension to flexible automation in terms of hardware flexibility, when compared to conventional industrial robots, in terms of yielding individual global optimal arm geometries for each of the tasks at hand. The objective of our ongoing research in the area of “mechanical design of modular robots” is to develop an inventory of basic modular units, which will allow a user to configure the most suitable robot geometry for a task (or a set of tasks) at hand. Standardization of these units and minimization of the size of the inventory constitute the two main goals of this research. In this paper some of our research results on the conceptual design of a modular robot are presented. The individual modular robot units that are presented include: one degree-of-freedom (dof) main joints (rotary and prismatic types), one dof end effector joints (Yaw, Pitch and Roll types), links and connectors.

Improving Efficiency in Robot Assisted Belt Grinding of High Performance Materials

2014 ◽  
Vol 907 ◽  
pp. 139-149 ◽  
Author(s):  
Eckart Uhlmann ◽  
Florian Heitmüller
Keyword(s):  
Gas Turbines ◽  
High Performance ◽  
Scale Effects ◽  
Turbine Blades ◽  
Repair Process ◽  
Industrial Robots ◽  
Robot Assisted ◽  
Belt Grinding ◽  
Economy Of Scale ◽  
The Individual

In gas turbines and turbo jet engines, high performance materials such as nickel-based alloys are widely used for blades and vanes. In the case of repair, finishing of complex turbine blades made of high performance materials is carried out predominantly manually. The repair process is therefore quite time consuming. And the costs of presently available repair strategies, especially for integrated parts, are high, due to the individual process planning and great amount of manually performed work steps. Moreover, there are severe risks of partial damage during manually conducted repair. All that leads to the fact that economy of scale effects remain widely unused for repair tasks, although the piece number of components to be repaired is increasing significantly. In the future, a persistent automation of the repair process chain should be achieved by developing adaptive robot assisted finishing strategies. The goal of this research is to use the automation potential for repair tasks by developing a technology that enables industrial robots to re-contour turbine blades via force controlled belt grinding.

scholarly journals A reconfiguration strategy for modular robots using origami folding

2018 ◽  
Vol 38 (1) ◽  
pp. 73-89 ◽  
Author(s):  
Meibao Yao ◽  
Christoph H. Belke ◽  
Hutao Cui ◽  
Jamie Paik
Keyword(s):  
Heuristic Algorithm ◽  
Minimum Energy ◽  
Computational Time ◽  
Modular Robots ◽  
Automatic Modeling ◽  
Minimum Energy Consumption ◽  
Modular Units ◽  
Optimal Reconfiguration ◽  
Algorithmic Framework ◽  
Modeling Algorithm

Reconfigurability in versatile systems of modular robots is achieved by changing the morphology of the overall structure as well as by connecting and disconnecting modules. Recurrent connectivity changes can cause misalignment that leads to mechanical failure of the system. This paper presents a new approach to reconfiguration, inspired by the art of origami, that eliminates connectivity changes during transformation. Our method consists of an energy-optimal reconfiguration planner that generates an initial 2D assembly pattern and an actuation sequence of the modular units, both resulting in minimum energy consumption. The algorithmic framework includes two approaches, an automatic modeling algorithm as well as a heuristic algorithm. We further demonstrate the effectiveness of our method by applying the algorithms to Mori, a modular origami robot, in simulation. Our results show that the heuristic algorithm yields reconfiguration schemes with high quality, compared with the automatic modeling algorithm, simultaneously saving a considerable amount of computational time and effort.

A model of the mechanical design process based on empirical data

1988 ◽  
Vol 2 (1) ◽  
pp. 33-52 ◽  
Author(s):  
David G. Ullman ◽  
Thomas G. Dietterich ◽  
Larry A. Stauffer
Keyword(s):  
Problem Solving ◽  
Detailed Analysis ◽  
Conceptual Design ◽  
Design Process ◽  
Empirical Data ◽  
Mechanical Design ◽  
Level Of Detail ◽  
Cad Tools ◽  
Design Alternatives ◽  
Key Features

This paper describes the task/episode accumulation model (TEA model) of non-routine mechanical design, which was developed after detailed analysis of the audio and video protocols of five mechanical designers. The model is able to explain the behavior of designers at a much finer level of detail than previous models. The key features of the model are (a) the design is constructed by incrementally refining and patching an initial conceptual design, (b) design alternatives are not considered outside the boundaries of design episodes (which are short stretches of problem solving aimed at specific goals), (c) the design process is controlled locally, primarily at the level of individual episodes. Among the implications of the model are the following: (a) CAD tools should be extended to represent the state of the design at more abstract levels, (b) CAD tools should help the designer manage constraints, and (c) CAD tools should be designed to give cognitive support to the designer.

Modular Robot Connection Design

1992 ◽  
Author(s):  
Robert O. Ambrose ◽  
Delbert Tesar
Keyword(s):  
Product Line ◽  
Modular Robots ◽  
Modular Robotics ◽  
Modular Robot ◽  
Manufacturing Costs ◽  
Mechanical Connection ◽  
Automation Equipment ◽  
Connection Design

Abstract The ability to reconfigure automation equipment will reduce the manufacturing costs of obsolesence, training and maintenance while allowing for a faster response to changes in the product line. A modular philosophy will give the user these advantages, but only if based on a common connection standard. A mechanical connection was selected for the UT Modular Robotics Testbed and used in the designs of four robot joint modules and nine robot link modules. The standard was also used for assecories, such as the testand, loading fixtures and endeffectors. Three years of experiments with this connection standard are reviewed, and used as the basis for new connection designs. Experiments using multiple modules assembled as dextrous robots, as well as experiments focusing on the connection itself, will be described. Goals for future connection standards include designs with upward compatibility, combinations of both mechanical and electrical fittings, and robot triendly constraints that allow for automated or remote assembly of modular robots.

scholarly journals A CONCEPTUAL DESIGN FOR RECONFIGURABLE ROBOTS

2011 ◽  
Author(s):  
Farhad Aghili
Keyword(s):  
Conceptual Design ◽  
Mechanical Design ◽  
Twist Angle ◽  
Kinematic Chain ◽  
Control Synthesis ◽  
Kinematics Analysis ◽  
New Paradigm ◽  
Passive Joint ◽  
Reconfigurable Robots

The paper presents a new paradigm and conceptual design for reconfigurable robots. Unlike conventional reconfigurable robots, our design doesn't achieve reconfigurability by utilizing modular joints. But the robot is equipped with passive joints, i.e. joints with no actuator or sensor, which permit changing the Denavit-Hartenberg (DV) parameters such as the arm length, and the twist angle. The passive joints are controllable when the robot forms a closed kinematic chain. Also each passive joint is equipped with a built-in brake mechanism which is normally locked but it can be released whenever changing of the parameters is required. Kinematics analysis of such a robot plus control synthesis and mechanical design of the brake mechanism are described.

A Computational Product Model for Conceptual Design Using SysML

2009 ◽  
Author(s):  
Stefan Wo¨lkl ◽  
Kristina Shea
Keyword(s):  
Product Development ◽  
Conceptual Design ◽  
Mechanical Design ◽  
System Development ◽  
Concept Design ◽  
Product Modeling ◽  
Product Model ◽  
Mechatronic Systems ◽  
Starting Point

The importance of the concept development phase in product development is contradictory to the level and amount of current computer-based support for it, especially with regards to mechanical design. Paper-based methods for conceptual design offer a far greater level of maturity and familiarity than current computational methods. Engineers usually work with software designed to address only a single stage of the concept design phase, such as requirements management tools. Integration with software covering other stages, e.g. functional modeling, is generally poor. Using the requirements for concept models outlined in the VDI 2221 guideline for systematic product development as a starting point, the authors propose an integrated product model constructed using the Systems Modeling Language (SysML) that moves beyond geometry to integrate all necessary aspects for conceptual design. These include requirements, functions and function structures, working principles and their structures as well as physical effects. In order to explore the applicability of SysML for mechanical design, a case study on the design of a passenger car’s luggage compartment cover is presented. The case study shows that many different SysML diagram types are suitable for formal modeling in mechanical concept design, though they were originally defined for software and control system development. It is then proposed that the creation and use of libraries defining generic as well as more complicated templates raises efficiency in modeling. The use of diagrams and their semantics for conceptual modeling make SysML a strong candidate for integrated product modeling of mechanical as well as mechatronic systems.

scholarly journals Per una prosopografia dei sacerdoti e delle sacerdotesse ateniesi in età imperiale: note preliminari

Axon ◽  
2019 ◽  
Author(s):  
Francesco Camia
Keyword(s):  
Family Relations ◽  
Social Aspects ◽  
Roman Religion ◽  
Ongoing Research ◽  
Cultural Aspects ◽  
Imperial Period ◽  
The Social ◽  
The Individual ◽  
Epigraphic Evidence ◽  
Systematic Collection

This paper offers an overview of an ongoing research project on priesthoods in Roman Athens, whose first purpose is to realise a prosopography of the Athenian cult personnel during the Roman imperial period (c. 27 BC-267 AD). Despite a growing interest in the last years on the social aspects of Greek (and Roman) religion and specifically on priesthoods as is also shown by the publication of several collective volumes on the latter subject, systematic investigations on the cult personnel of single poleis are still lacking. As regards Athens, in particular, while there are studies on specific priesthoods such as the Eleusinian priesthoods or the priests of Asklepios, to date there is no comprehensive investigation on the Athenian cult personnel. Furthermore, while different aspects connected with priesthood have been studied for Classical and Hellenistic Athens, the Roman imperial period has been left largely ‘in the shadows’. Having this in mind, I have begun a research on Athenian cult personnel during the Roman imperial period. Since any such investigation must be based on a systematic collection of the epigraphic evidence on the individual holders of the different priesthoods, my first aim is to realise a prosopography of all religious functionaries, both male and female, of Athenian cults (that is to say of cults performed in Athens) from Augustus up to the 3rd c. AD (ca. AD 267). The prosopography is to be followed in due time by a synthesis on the religious, social, and cultural aspects of priesthood in Roman Athens. The prosopographic catalogue, collecting the relevant epigraphic and literary testimonies, will provide for each priest the main data (name, chronology, status, other charges, bibliography) and a thorough commentary on his family relations and on his priestly activity and public career.

scholarly journals Information literacy and informed learning: conceptual innovations for IL research and practice futures.

2017 ◽  
Vol 11 (1) ◽  
pp. 4 ◽  
Author(s):  
Christine Susan Bruce ◽  
Andrew Demasson ◽  
Hilary Hughes ◽  
Mandy Lupton ◽  
Elham Sayyad Abdi ◽  
...  
Keyword(s):  
Information Literacy ◽  
Experience Design ◽  
Ongoing Research ◽  
Team Members ◽  
Research And Practice ◽  
Relational Approach ◽  
New Concepts ◽  
Working Together ◽  
The Individual ◽  
Learning Team

Our paper draws together conceptual innovations emerging from the work of a group of researchers focussed on the relational approach to information literacy, more recently labelled ‘informed learning’. Team members have been working together in various configurations for periods ranging from seven to seventeen years. Our collaborative approach continues to yield new concepts and constructs which we believe to be of value to ongoing research and practice. Some of the ideas discussed have been previouly published, while others are being put forward for the first time. All are significant in that they together form new constructs that have emerged from a focus on the relational approach to information literacy. In this paper, Christine Bruce introduces the background to this work and the contributing researchers. Then the individual authors present the key directions which they have developed and are leading, typically working with one or more of the wider network. The key ideas presented are: The expressive window for information literacy (Mandy Lupton); information experience design (Elham Sayyad Abdi); cross-contextuality and experienced identity (Andrew Demasson); informed learning design (Clarence Maybee); spaces for inclusive informed learning (Hilary Hughes); and informed systems (Mary Somerville and Anita Mirjamdotter).  In each piece, authors reflect on what the idea is about, where it came from and what it might mean for research and practice. 

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