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Modular Robots

  • I-Ming Chen
  • Mark Yim
Part of the Springer Handbooks book series (SHB)

Abstract

This chapter presents a discussion of modular robots from both an industrial and a research point of view. The chapter is divided into four sections, one focusing on existing reconfigurable modular manipulators typically in an industry setting (Sect. 22.2) and another focusing on self-reconfigurable modular robots typically in a research setting (Sect. 22.4). Both sections are sandwiched between the introduction and conclusion sections.

This chapter is focused on design issues. Rather than a survey of existing systems, it presents some of the existing systems in the context of a discussion of the issues and elements in industrial modular robotics and modular robotics research. The reader is encouraged to look at the references for further discussion on any of the presented topics.

Keywords

Robotic System Parallel Robot Modular Robot Mechanical Interface Modular Manipulator 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
AIM

assembly incidence matrix

CEBOT

cellular robotic system

CNC

computer numerical control

DH

Denavit–Hartenberg

DOF

degree of freedom

GA

genetic algorithm

MIPS

microprocessor without interlocked pipeline stages

POE

local product-of-exponential

RMMS

reconfigurable modular manipulator system

SA

simulated annealing

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Copyright information

© Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  1. 1.School of Mechanical and Aerospace EngineeringNanyang Technological UniversitySingaporeSingapore
  2. 2.Department of Mechanical Engineering and Applied MechanicsUniversity of PennsylvaniaPhiladelphiaUSA

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