7,435 research outputs found
Towards Python-based Domain-specific Languages for Self-reconfigurable Modular Robotics Research
This paper explores the role of operating system and high-level languages in
the development of software and domain-specific languages (DSLs) for
self-reconfigurable robotics. We review some of the current trends in
self-reconfigurable robotics and describe the development of a software system
for ATRON II which utilizes Linux and Python to significantly improve software
abstraction and portability while providing some basic features which could
prove useful when using Python, either stand-alone or via a DSL, on a
self-reconfigurable robot system. These features include transparent socket
communication, module identification, easy software transfer and reliable
module-to-module communication. The end result is a software platform for
modular robots that where appropriate builds on existing work in operating
systems, virtual machines, middleware and high-level languages.Comment: Presented at DSLRob 2011 (arXiv:1212.3308
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A novel architecture for a reconfigurable micro machining cell
There is a growing demand for machine tools that are specifically designed for the manufacture of micro-scale components. Such machine tools are integrated into flexible micro-manufacturing systems. Design objectives for such tools include energy efficiency, small footprint and importantly flexibility, with the ability to easily reconfigure the manufacturing system in response to process requirements and product demands. Such systems find application in medical, photonics, automotive and electronic industries.
In this paper, a new architecture for a reconfigurable micro manufacturing system is presented. The proposed architecture comprises a micro manufacturing cell with the key design feature being a hexagonal-base on which three tool heads can be attached to three of its sides. Each such machine-tool head, or processing module, is able to perform a different manufacturing process. These tool heads are interchangeable, enabling the cell to be configured to process a wide range of components with different materials, dimensions, tolerances and specification. Additional components of the cell include manipulation robots and an automated buffer unit. Such cells can be integrated into a manufacturing system via a modular conveyor belt to transfer parts from one cell to another and into assembly. A key consideration of the architecture is a control system that is also modular and reconfigurable; such that when new processing modules are introduced the control system is aware of the change and adjusts accordingly. Further to this coordination, issues between modules and machining cells are also considered. Other design considerations include work-piece holding and manipulation.
This paper provides an overview of the architecture, the key design and implementation challenges as well as a high level operational performance assessment by means of a discrete event simulation model of the micro factory cell
Kinematics, workspace and singularity analysis of a multi-mode parallel robot
A family of reconfigurable parallel robots can change motion modes by passing
through constraint singularities by locking and releasing some passive joints
of the robot. This paper is about the kinematics, the workspace and singularity
analysis of a 3-PRPiR parallel robot involving lockable Pi and R (revolute)
joints. Here a Pi joint may act as a 1-DOF planar parallelogram if its
lock-able P (prismatic) joint is locked or a 2-DOF RR serial chain if its
lockable P joint is released. The operation modes of the robot include a 3T
operation modes to three 2T1R operation modes with two different directions of
the rotation axis of the moving platform. The inverse kinematics and forward
kinematics of the robot in each operation modes are dealt with in detail. The
workspace analysis of the robot allow us to know the regions of the workspace
that the robot can reach in each operation mode. A prototype built at
Heriot-Watt University is used to illustrate the results of this work.Comment: International Design Engineering Technical Conferences \& Computers
and Information in Engineering Conference, Aug 2017, Cleveland, United
States. 201
Kinematically Redundant Octahedral Motion Platform for Virtual Reality Simulations
We propose a novel design of a parallel manipulator of Stewart Gough type for
virtual reality application of single individuals; i.e. an omni-directional
treadmill is mounted on the motion platform in order to improve VR immersion by
giving feedback to the human body. For this purpose we modify the well-known
octahedral manipulator in a way that it has one degree of kinematical
redundancy; namely an equiform reconfigurability of the base. The instantaneous
kinematics and singularities of this mechanism are studied, where especially
"unavoidable singularities" are characterized. These are poses of the motion
platform, which can only be realized by singular configurations of the
mechanism despite its kinematic redundancy.Comment: 13 pages, 6 figure
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