Dynamically reconfigurable modular design of a new type of mobile manipulator joint system

Author

Wu, Shenli ; Wang, Sunan ; Chen, Naijian

Author_Institution

Sch. of Mech. Eng., Xi´´an Jiaotong Univ., Xi´´an, China

fYear

2011

fDate

15-17 July 2011

Firstpage

1266

Lastpage

1269

Abstract

With mobile manipulator forearm joint as the research object, a new type of dynamically reconfigurable modular joint system is designed for mobile manipulator joint system on bearing capacity, the structure arrangement, etc. Through the design of joint module mechanical interface and driver interface, mobile manipulator can change configuration and performance to complete different tasks according to actual needs, which has good flexibility and expansibility, saves the design cycle and reduces production cost.

Keywords

cost reduction; design engineering; manipulator dynamics; mobile robots; bearing capacity; design cycle; driver interface; dynamically reconfigurable modular joint system; joint module mechanical interface design; mobile manipulator forearm joint system; production cost reduction; structure arrangement; EMP radiation effects; Joints; Manipulator dynamics; Mobile communication; Pistons; Valves; dynamically; electro-hydraulic direct driving; joint drive; mobile manipulator; reconfigurable modularization;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechanic Automation and Control Engineering (MACE), 2011 Second International Conference on

Conference_Location

Hohhot

Print_ISBN

978-1-4244-9436-1

Type

conf

DOI

10.1109/MACE.2011.5987172

Filename

5987172