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An Integrated Taxonomy and Critical Review of Module Designs for Serial Reconfigurable Manipulators

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Advances in Service and Industrial Robotics (RAAD 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 980))

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Abstract

Modular, reconfigurable, self-reconfigurable and metamorphic robots have already been in research since the last quarter of the previous century however and quite several different module designs have been presented in the relevant literature. As such, these modules need to be taxonomized and critically reviewed in order to form the basis for the design of new modules. The present paper introduces such a taxonomy based on the governing aspects of the modules in the literature and a weighted grading system for their critical review. Fifteen different module designs are examined and graded to identify their suitability for serving as the basis for the design of new modules for a self-metamorphic robotic manipulator system.

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Acknowledgement

This research has been financially supported by General Secretariat for Research and Technology (GSRT) and the Hellenic Foundation for Research and Innovation (HFRI) (Code: 1184)

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Authors and Affiliations

  1. Department of Product and Systems Design Engineering, University of the Aegean, Syros, Greece

    N. A. Stravopodis, C. Valsamos & V. C. Moulianitis

Authors
  1. N. A. Stravopodis
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  2. C. Valsamos
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  3. V. C. Moulianitis
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Corresponding author

Correspondence to N. A. Stravopodis .

Editor information

Editors and Affiliations

  1. Department of Computer Science, Robotics Research Lab, Technische Universität Kaiserslautern, Kaiserslautern, Germany

    Karsten Berns

  2. Department of Electrical and Computer Engineering, Electromobility Group, Technische Universität Kaiserslautern, Kaiserslautern, Germany

    Daniel Görges

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Stravopodis, N.A., Valsamos, C., Moulianitis, V.C. (2020). An Integrated Taxonomy and Critical Review of Module Designs for Serial Reconfigurable Manipulators. In: Berns, K., Görges, D. (eds) Advances in Service and Industrial Robotics. RAAD 2019. Advances in Intelligent Systems and Computing, vol 980. Springer, Cham. https://doi.org/10.1007/978-3-030-19648-6_1

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