Abstract
The monolithic design of serial robot arms has become widely accepted in industrial applications. One might note that these manipulators are designed in such a way that they can implement as many applications as possible at the same time and therefore do usually not have an application-specific structure. In this article we describe the construction and modeling of a kinematic chain in which a mechanical modification is possible. As a result, the structure of a serial robot can be adapted in a wide range. For this purpose, the links of the kinematic chain are modified in such a way that the robot structure matches the desired Denavit-Hartenberg parameter set. This means also that optimizations with different kinematic goals can be realized in order to flexibly adapt the robot system to a current task.
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Acknowledgements
This research was partially funded by the Austrian Ministry for Transport, Innovation and Technology (BMVIT) within the framework of the sponsorship agreement formed for 2015–2018 under the project RedRobCo.
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Brandstötter, M., Gallina, P., Seriani, S., Hofbaur, M. (2019). Task-Dependent Structural Modifications on Reconfigurable General Serial Manipulators. In: Aspragathos, N., Koustoumpardis, P., Moulianitis, V. (eds) Advances in Service and Industrial Robotics. RAAD 2018. Mechanisms and Machine Science, vol 67. Springer, Cham. https://doi.org/10.1007/978-3-030-00232-9_33
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DOI: https://doi.org/10.1007/978-3-030-00232-9_33
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