Abstract
This paper introduces a modular system consisting of a 3 DOF robotic local structure with revolute joints. Several wrist joints are presented where the contact element, the end-effector, is systematically varied. The range of objects to be handled is analysed with the aim to identify a minimum of contact principles. Realizing these principles with one gripper each and defining general interfaces leads to a modular system, which warrants the versatility, flexibility and reconfigurability required for the introduced parallel handling system.
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Acknowledgments
As part of this work was carried out at the Cluster of Excellence at RWTH Aachen “Integrative production technology for high-wage countries (EXC 128)”; the authors would like to thank The German Research Foundation for their support.
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Kurtenbach, S., Hüsing, M., Corves, B. (2015). Modular System with Varying Contact Elements for a Reconfigurable Parallel Robot. In: Bai, S., Ceccarelli, M. (eds) Recent Advances in Mechanism Design for Robotics. Mechanisms and Machine Science, vol 33. Springer, Cham. https://doi.org/10.1007/978-3-319-18126-4_29
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DOI: https://doi.org/10.1007/978-3-319-18126-4_29
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