Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains
Abstract As the structures of multiarm robots are serially arranged, the packaging and transportation of these robots are often inconvenient. The ability of these robots to operate objects must also be improved. Addressing this issue, this paper presents a type of multiarm robot that can be adequate...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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SpringerOpen
2020-10-01
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| Series: | Chinese Journal of Mechanical Engineering |
| Subjects: | |
| Online Access: | http://link.springer.com/article/10.1186/s10033-020-00489-5 |
| _version_ | 1811324864191004672 |
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| author | Fu-Qun Zhao Sheng Guo Hai-Jun Su Hai-Bo Qu Ya-Qiong Chen |
| author_facet | Fu-Qun Zhao Sheng Guo Hai-Jun Su Hai-Bo Qu Ya-Qiong Chen |
| author_sort | Fu-Qun Zhao |
| collection | DOAJ |
| description | Abstract As the structures of multiarm robots are serially arranged, the packaging and transportation of these robots are often inconvenient. The ability of these robots to operate objects must also be improved. Addressing this issue, this paper presents a type of multiarm robot that can be adequately folded into a designed area. The robot can achieve different operation modes by combining different arms and objects. First, deployable kinematic chains (DKCs) are designed, which can be folded into a designated area and be used as an arm structure in the multiarm robot mechanism. The strategy of a platform for storing DKCs is proposed. Based on the restrictions in the storage area and the characteristics of parallel mechanisms, a class of DKCs, called base assembly library, is obtained. Subsequently, an assembly method for the synthesis of the multiarm robot mechanism is proposed, which can be formed by the connection of a multiarm robot mechanism with an operation object based on a parallel mechanism structure. The formed parallel mechanism can achieve a reconfigurable characteristic when different DKCs connect to the operation object. Using this method, two types of multiarm robot mechanisms with four DKCs that can switch operation modes to perform different tasks through autonomous combination and release operation is proposed. The obtained mechanisms have observable advantages when compared with the traditional mechanisms, including optimizing the occupied volume during transportation and using parallel mechanism theory to analyze the switching of operation modes. |
| first_indexed | 2024-04-13T14:23:11Z |
| format | Article |
| id | doaj.art-761b954a46794bc2981667ae6618382f |
| institution | Directory Open Access Journal |
| issn | 1000-9345 2192-8258 |
| language | English |
| last_indexed | 2024-04-13T14:23:11Z |
| publishDate | 2020-10-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | Chinese Journal of Mechanical Engineering |
| spelling | doaj.art-761b954a46794bc2981667ae6618382f2022-12-22T02:43:24ZengSpringerOpenChinese Journal of Mechanical Engineering1000-93452192-82582020-10-0133111710.1186/s10033-020-00489-5Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic ChainsFu-Qun Zhao0Sheng Guo1Hai-Jun Su2Hai-Bo Qu3Ya-Qiong Chen4School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong UniversitySchool of Mechanical, Electronic and Control Engineering, Beijing Jiaotong UniversityDepartment of Mechanical and Aerospace Engineering, The Ohio State UniversitySchool of Mechanical, Electronic and Control Engineering, Beijing Jiaotong UniversitySchool of Mechanical, Electronic and Control Engineering, Beijing Jiaotong UniversityAbstract As the structures of multiarm robots are serially arranged, the packaging and transportation of these robots are often inconvenient. The ability of these robots to operate objects must also be improved. Addressing this issue, this paper presents a type of multiarm robot that can be adequately folded into a designed area. The robot can achieve different operation modes by combining different arms and objects. First, deployable kinematic chains (DKCs) are designed, which can be folded into a designated area and be used as an arm structure in the multiarm robot mechanism. The strategy of a platform for storing DKCs is proposed. Based on the restrictions in the storage area and the characteristics of parallel mechanisms, a class of DKCs, called base assembly library, is obtained. Subsequently, an assembly method for the synthesis of the multiarm robot mechanism is proposed, which can be formed by the connection of a multiarm robot mechanism with an operation object based on a parallel mechanism structure. The formed parallel mechanism can achieve a reconfigurable characteristic when different DKCs connect to the operation object. Using this method, two types of multiarm robot mechanisms with four DKCs that can switch operation modes to perform different tasks through autonomous combination and release operation is proposed. The obtained mechanisms have observable advantages when compared with the traditional mechanisms, including optimizing the occupied volume during transportation and using parallel mechanism theory to analyze the switching of operation modes.http://link.springer.com/article/10.1186/s10033-020-00489-5DesignMultiarm robotDeployable kinematic chainParallel mechanismMotion set |
| spellingShingle | Fu-Qun Zhao Sheng Guo Hai-Jun Su Hai-Bo Qu Ya-Qiong Chen Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains Chinese Journal of Mechanical Engineering Design Multiarm robot Deployable kinematic chain Parallel mechanism Motion set |
| title | Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains |
| title_full | Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains |
| title_fullStr | Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains |
| title_full_unstemmed | Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains |
| title_short | Design of Self-Reconfigurable Multiarm Robot Mechanism Based on Deployable Kinematic Chains |
| title_sort | design of self reconfigurable multiarm robot mechanism based on deployable kinematic chains |
| topic | Design Multiarm robot Deployable kinematic chain Parallel mechanism Motion set |
| url | http://link.springer.com/article/10.1186/s10033-020-00489-5 |
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