Modelling and Simulation of Basic Robotic Configurations using D-H Parameters Based Adaptive Modules

Publication date: Available online 5 July 2016 Source:Perspectives in Science Author(s): Satwinder Singh, Ekta Singla Selection of a suitable robotic manipulator, out of the available conventional configurations, is one way to employ a robot. However, with the increasing applications of robotic assistance, the concept of task-oriented customized design for prescribed working locations in a given environment, has got attention of several researchers. One of the challenge in this direction is the realization of specific designs, involving unconventional values of robotic parameters. This paper discusses the D-H parameters based adaptive modules, which can be adjusted according to the given values of robotic parameters. The modules are available in three types with similar architecture. The details of this basic length unit, adaptive twist unit and extended length unit are discussed. Focus of the work is to validate the adaptability of the proposed architecture through the modelling, simulation and development of standard configuration.
Source: Perspectives in Science - Category: Science Source Type: research