A Rapidly Reconfigurable Robotics Workcell and Its Applictions for Tissue Engineering
Name
IMST019.pdf
Size
669.25 KB
Format
Adobe PDF
Checksum (MD5)
475b8e1fbab455d4b2fd180651cd22c3
Author(s)
Chen, I-Ming
Date Issued
January 2003
Series/Report no.
Innovation in Manufacturing Systems and Technology (IMST);
Abstract
This article describes the development of a component-based technology robot system that can be rapidly configured to perform a specific manufacturing task. The system is conceived with standard and inter-operable components including actuator modules, rigid link connectors and tools that can be assembled into robots with arbitrary geometry and degrees of freedom. The reconfigurable "plug-and-play" robot kinematic and dynamic modeling algorithms are developed. These algorithms are the basis for the control and simulation of reconfigurable robots. The concept of robot configuration optimization is introduced for the effective use of the rapidly reconfigurable robots. Control and communications of the workcell components are facilitated by a workcell-wide TCP/IP network and device level CAN-bus networks. An object-oriented simulation and visualization software for the reconfigurable robot is developed based on Windows NT. Prototypes of the robot systems configured to perform 3D contour following task and the positioning task are constructed and demonstrated. Applications of such systems for biomedical tissue scaffold fabrication are considered.
Subjects
reconfigurable robotics workcell
plug-and-play
dynamic modeling algorithms
kinematic modeling algorithms
biomedical tissue scaffold fabrication
robot configuration optimization
Persistent DSpace Link
