Please use this identifier to cite or link to this item: https://idr.l2.nitk.ac.in/jspui/handle/123456789/7490
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dc.contributor.authorMarebal, D.
dc.contributor.authorGuruprasad, K.R.
dc.date.accessioned2020-03-30T09:59:14Z-
dc.date.available2020-03-30T09:59:14Z-
dc.date.issued2020
dc.identifier.citationLecture Notes in Electrical Engineering, 2020, Vol.581, , pp.99-112en_US
dc.identifier.urihttp://idr.nitk.ac.in/jspui/handle/123456789/7490-
dc.description.abstractModular robots are designed to increase the utilization of robots by modularizing their architecture. We discuss manually reconfigurable manipulators, where a manipulator of desired kinematic configuration is built by assembling the available modules. In the case of a serial-link manipulator with revolute joints, the joint angle is a variable. Out of the remaining three D-H parameters, namely, link-length, link-offset and link-twist, the twist angle influences the workspace the most. This work proposes a conceptual design and fabrication of individual modules which can be assembled to obtain a modular manipulator with desired kinematic configuration in terms of twist angles between any two consecutive joints. We also discuss possible provisions for length adjustment of a link. Designed modules are fabricated using 3D printer. As we focus on manually reconfigurable manipulators, simplicity of individual modules, in terms design, fabrication, and assembly, has been given higher priority, in contrast to similar designs available in the literature. � 2020, Springer Nature Singapore Pte Ltd.en_US
dc.title3D printable modules for manually reconfigurable manipulator with desired D-H parametersen_US
dc.typeBook chapteren_US
Appears in Collections:2. Conference Papers

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