The Curved Manipulator (Cuma-Type Arm): Realization of a Serial Manipulator with General Structure in Modular Design

Publication from Robotics

Mathias Brandstötter , Arthur Angerer, Michael Hofbaur

14th IFToMM World Congress on Theory of Machines and Mechanisms, Taipei, Taiwan , 10/2015


Currently available industrial robots are mainly of monolithic structure. Hence, the geometrical dimensions and the configuration of robotic arms are immutable. A modular design of serial manipulators allows to vary the structure of serial kinematic chains, for example, to adapt the system to a specific handling task. In this work we present the concept of a modular robot which has general kinematic structure by means of curved link elements. We show how to describe intuitively the assemblage of modular manipulators with curved links (referred to as Cuma-arms) by a parameter set. A Cuma-type arm and a dedicated path which can be followed by the end effector with 16 different postures is presented. For computation of the inverse kinematics of general serial 6R manipulators the algorithm of Husty and Pfurner is used and implemented on a real system.


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Keywords: serial robots, adaptive systems, adaptable systems