Mekid, S and Shang, M (2015) Concept of dependent joints in functional reconfigurable robots. Journal of Engineering, Design and Technology, 13(3), pp. 400-418.
Abstract
Purpose – The purpose of this paper is to discuss an example of modelling with experiments of robot prototype with dependent joint concept, including a full description of related functionalities. Reduction in active degrees of freedom in a machine can lead to improved accuracy, improved reliability and lower cost. The reconfiguration of machines and systems is a key technology for future responsive manufacturing systems. The concept of dependent joints helps to implement much specified sub-workspaces depending on functional needs in the machine. Design/methodology/approach – This is inherently made possible using smart mechanical concepts having embedded sensors and reconfigurable control systems. This paper introduces structural reconfiguration systems and discusses a sample approach to functional reconfiguration. Findings – A successful manipulator design with extended features when considering reduction in active degrees of freedom in a machine would lead to specific sub-workspace with improved accuracy, improved reliability and lower cost. Research limitations/implications – Reduction in active degrees of freedom in a machine can lead not only towards a dedicated functional workspace but also towards improved accuracy, improved reliability and lower cost. Originality/value – This paper is of value to engineers and researchers developing robotic manipulators for use in various aspects of industry.
| Item Type: | Article |
|---|---|
| Uncontrolled Keywords: | robotics; dependent joints; reconfiguration |
| Index terms: | accuracy, experiment, functionality, prototype, control system, reconfiguration, methodology, workspace, engineer, modelling, robotics, dependent joint |
| Subjects: | design features, modelling and simulation, analytical methods, data collection methods, profession, organization, management, structural engineering, research methods, monitoring and control, automation and robotics, professional development |
| Topics: | Digital Applications, Design Practice, Stakeholder Management, Roles and Professions, Business Strategy, Engineering Principles, Information Management, Research Practice |
| Descriptive scope: | 4 PCTE |
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