3D Printable Modules for Manually Reconfigurable Manipulator with Desired D-H Parameters

Abstract

Modular robots are designed to increase the utilization of robots by modularizing their architecture. We discuss manually reconfigurable manipulators, where a manipulator of desired kinematic configuration is built by assembling the available modules. In the case of a serial-link manipulator with revolute joints, the joint angle is a variable. Out of the remaining three D-H parameters, namely, link-length, link-offset and link-twist, the twist angle influences the workspace the most. This work proposes a conceptual design and fabrication of individual modules which can be assembled to obtain a modular manipulator with desired kinematic configuration in terms of twist angles between any two consecutive joints. We also discuss possible provisions for length adjustment of a link. Designed modules are fabricated using 3D printer. As we focus on manually reconfigurable manipulators, simplicity of individual modules, in terms design, fabrication, and assembly, has been given higher priority, in contrast to similar designs available in the literature.