Research on modular design of perpendicular jointed industrial robots

Abstract

Modular design of industrial robots is one of the emergent topics in the area of robot design. In order to decrease the cost of robot fabrication and increase the efficiency of system developing, a modular design method of perpendicular joint industrial robot has been proposed by classifying it into three layer mechanical modules in this paper. The modular design theory, functional and structural features of the jointed-arm industrial robot were discussed in detail. Then, the division and definition of the modules were presented. After that, the first, second and third layer modules were defined. Based upon the analysis and classification of common industrial robot applications, a detailed library of the third layer is presented as well. As illustration, two modular robots have been constructed with the modules proposed in this paper. © 2011 Springer-Verlag.