TY - GEN
T1 - A reconfigurable four degrees of freedom modular serial robot system: Design and analysis
AU - Zhang, Dan
AU - Lei, Jianhe
AU - Shi, Qi
AU - Song, Zhanglei
PY - 2010
Y1 - 2010
N2 - Nowadays, the world market is becoming volatile, unpredictable, and changing radically. The present manufacturing systems are becoming inadequate to meet the requirements of flexible manufacturing technologies and productivity. Reconfigurable manufacturing system is one of the solutions to resolve this problem. This paper presents the design and analysis of a reconfigurable four degrees of freedom modular serial robot system which can be used for handling variety of applications in manufacturing workcell. Concept of the reconfigurable robot, forward kinematics (FK) and inverse kinematics (IK) analysis are introduced. Meanwhile a distributed control system based on the CAN-bus and internet are designed by which users can remotely control the robot arm, and also the process is visualized using Java3D. With the Java3D robot model, users can simulate and monitor/control the reconfigurable robot arm in a remote real-time manner. Since the model of robot is implemented with Java3D, only small data parcels with the current robot coordinates need to be transmitted to the visualization module of the clients. This accelerates the system response and provides the operator with a synchronized view of the real robot.
AB - Nowadays, the world market is becoming volatile, unpredictable, and changing radically. The present manufacturing systems are becoming inadequate to meet the requirements of flexible manufacturing technologies and productivity. Reconfigurable manufacturing system is one of the solutions to resolve this problem. This paper presents the design and analysis of a reconfigurable four degrees of freedom modular serial robot system which can be used for handling variety of applications in manufacturing workcell. Concept of the reconfigurable robot, forward kinematics (FK) and inverse kinematics (IK) analysis are introduced. Meanwhile a distributed control system based on the CAN-bus and internet are designed by which users can remotely control the robot arm, and also the process is visualized using Java3D. With the Java3D robot model, users can simulate and monitor/control the reconfigurable robot arm in a remote real-time manner. Since the model of robot is implemented with Java3D, only small data parcels with the current robot coordinates need to be transmitted to the visualization module of the clients. This accelerates the system response and provides the operator with a synchronized view of the real robot.
KW - Distributed control system
KW - Java3D
KW - Reconfigurable manufacturing system
KW - Reconfigurable modular robot
KW - Robot kinematics
UR - http://www.scopus.com/inward/record.url?scp=78149383708&partnerID=8YFLogxK
M3 - Conference article published in proceeding or book
AN - SCOPUS:78149383708
SN - 0872638685
SN - 9780872638686
T3 - Transactions of the North American Manufacturing Research Institution of SME
SP - 719
EP - 726
BT - Transactions of the North American Manufacturing Research Institution of SME 2010, NAMRI/SME
T2 - 38th Annual North American Manufacturing Research Conference, NAMRC 38
Y2 - 25 May 2010 through 28 May 2010
ER -