Exchange of Modules Among Robot Manipulators Using Part Agents

  • Yuuki FukumashiEmail author
  • Atsushi Nagasawa
  • Yoshinori Fukunaga
  • Hiroyuki Hiraoka


Effective reuse of mechanical parts is one of the important challenges to achieve sustainable society. In this paper, the authors propose a method to exchange modules between manipulators based on part agent system to promote reuse of mechanical parts. The paper describes a plan of experiment with ten manipulators.

The part agent system the authors are developing manages modularized robotic manipulators to investigate the scheme on exchanging modules. The manipulator proposed for the experiment consists of modules that are designed for easy replacement. Each module consists of a link, a joint, a motor, and an angle sensor. The manipulator has three degrees of freedom; contains two modules, i.e., upper and lower arm; and performs simple “pick-and-place” tasks. The system controls and manages information on the module and gathers related sensory data. It monitors its feedback value, while controlling the module, and detects deterioration by checking the deviation of these values. A prototype manipulator with a single degree of freedom is built, and preliminary experiment using this prototype is carried out. The result reveals that deterioration can be detected by monitoring the feedback. When the necessity of exchange of modules is determined based on the acquired deterioration, the system seeks modules in other manipulators that are appropriate to be exchanged. If an appropriate module is found, the target module is exchanged with the selected module.

After a discussion on the remaining issues to implement the part agent system for exchange modules, the paper is concluded.


Part agents Robot manipulator Exchange of module Life cycle 



This work was supported by JSPS KAKENHI Grant Number 15 K05772.


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Copyright information

© Springer Nature Singapore Pte Ltd. 2019

Authors and Affiliations

  • Yuuki Fukumashi
    • 1
    Email author
  • Atsushi Nagasawa
    • 1
  • Yoshinori Fukunaga
    • 1
  • Hiroyuki Hiraoka
    • 1
  1. 1.Department of Precision MechanicsChuo UniversityTokyoJapan

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