模块化机器人理论与应用(公开)
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• Q&A
Conventional Industrial Robots
A conventional industrial robot consists of monolithically designed joints and links, which has a fixed configuration once it is commissioned.
(ompoctwrist module with in↑egrated controlelectronics
Minioture rotary module with integrotedcontrol electronics
Baidu Nhomakorabea
Magnetic Brake
• Advantages: – Compact - highly integrated product Bearing – Intelligent - built-in controller and sensor – Simple wiring - one cable technology – Easy-to-use - plug & play capabilities – Reconfigurable - self-contained – Rapidly Deployable – Economical
• An IMA is a self-contained, independent, and intelligent actuator with its own motion control capabilities.
Embedded Motion Controller
• An IMA is a compact integration of a servo-motor, an amplifier, a controller, an encoder, a brake, a gearbox, and the communication interface.
PR Universol rotory module with integroted controlelectroni(s
Pan-Tilt-Unit with integroted control (ompoct Rotorymodule with
elec↑lonics
integrated controlele【tronics
模块化机器人理论与应用
中科院宁波工业技术研究院 先进制造技术研究所
致谢：新加坡制造技术研究院 （SIMTech）
Outline
• Introduction to Modular Reconfigurable Robot System (MRRS) • Serial MRRS
➢ Modular Robot Assembly Representation ➢ Configuration-independent Kinematics and Dynamics Modeling ➢ Kinematic Calibration ➢ Task-based Design of Serial MRRS Configurations
Decentralized/Distributed Control
Commercial Available IMAs
CoolMuscle Motor
SilverMax Motor
Smart Motor
MAC Motor
MRJ Module
ARM Module
PowerCube Module
Commercial Available IMAs (SHUNK)
Modular Flexible Re-usable Economical
Modular Recon币gurable Robot Systems
@
中国 科 学 问 材 阳 与 工 程 研 究 所
思 r J 中国科学院宁波工业技术研究院 (筹 〉
先进制造技术研究所
Intelligent Modular Actuator (IMA) 智能模块化执行机构
6-DOF PUMA Type
4-DOF SCARA Type
6-DOF Parallel Type
Modular Reconfigurable Robot System
A Modular Reconfigurable Robot System (MRRS) consists of a collection of standard actuator (joint) and end-effector modules and customer designed links/ connectors that can be assembled into different robot configurations for a diversity of tasks.
Gear-box
Network Communication
Integrated Servo Amplifier
Built-in Encoder and Sensors
Brushless DC Servo Motor
Network-based Distributed Control Scheme
Conventional Centralized Control (Complicated Wiring Scheme)
• Parallel MRRS
• Kinematics Modelling and Analysis • Singularity and Workspace Analysis • Kinematic Calibration • Task-based Design of Parallel MRRS Configurations
Rotory module with integroted 【ontrol electronics 0nd hollowshoft
MRD High Power Rotory modulewith integroted controlelec↑ronics
Rotary module with torque motor
Conventional Industrial Robots
A conventional industrial robot consists of monolithically designed joints and links, which has a fixed configuration once it is commissioned.
(ompoctwrist module with in↑egrated controlelectronics
Minioture rotary module with integrotedcontrol electronics
Baidu Nhomakorabea
Magnetic Brake
• Advantages: – Compact - highly integrated product Bearing – Intelligent - built-in controller and sensor – Simple wiring - one cable technology – Easy-to-use - plug & play capabilities – Reconfigurable - self-contained – Rapidly Deployable – Economical
• An IMA is a self-contained, independent, and intelligent actuator with its own motion control capabilities.
Embedded Motion Controller
• An IMA is a compact integration of a servo-motor, an amplifier, a controller, an encoder, a brake, a gearbox, and the communication interface.
PR Universol rotory module with integroted controlelectroni(s
Pan-Tilt-Unit with integroted control (ompoct Rotorymodule with
elec↑lonics
integrated controlele【tronics
模块化机器人理论与应用
中科院宁波工业技术研究院 先进制造技术研究所
致谢：新加坡制造技术研究院 （SIMTech）
Outline
• Introduction to Modular Reconfigurable Robot System (MRRS) • Serial MRRS
➢ Modular Robot Assembly Representation ➢ Configuration-independent Kinematics and Dynamics Modeling ➢ Kinematic Calibration ➢ Task-based Design of Serial MRRS Configurations
Decentralized/Distributed Control
Commercial Available IMAs
CoolMuscle Motor
SilverMax Motor
Smart Motor
MAC Motor
MRJ Module
ARM Module
PowerCube Module
Commercial Available IMAs (SHUNK)
Modular Flexible Re-usable Economical
Modular Recon币gurable Robot Systems
@
中国 科 学 问 材 阳 与 工 程 研 究 所
思 r J 中国科学院宁波工业技术研究院 (筹 〉
先进制造技术研究所
Intelligent Modular Actuator (IMA) 智能模块化执行机构
6-DOF PUMA Type
4-DOF SCARA Type
6-DOF Parallel Type
Modular Reconfigurable Robot System
A Modular Reconfigurable Robot System (MRRS) consists of a collection of standard actuator (joint) and end-effector modules and customer designed links/ connectors that can be assembled into different robot configurations for a diversity of tasks.
Gear-box
Network Communication
Integrated Servo Amplifier
Built-in Encoder and Sensors
Brushless DC Servo Motor
Network-based Distributed Control Scheme
Conventional Centralized Control (Complicated Wiring Scheme)
• Parallel MRRS
• Kinematics Modelling and Analysis • Singularity and Workspace Analysis • Kinematic Calibration • Task-based Design of Parallel MRRS Configurations
Rotory module with integroted 【ontrol electronics 0nd hollowshoft
MRD High Power Rotory modulewith integroted controlelec↑ronics
Rotary module with torque motor