Optimal Compositions using Unconventional Modular Library for Customized Manipulators

This paper presents an optimization approach for generating custom manipulator configurations using a proposed unconventional modular library. An end-to-end solution is presented in which the resulting optimal models of the modular compositions can be integrated directly with the Robot Operating System platform. The approach utilizes an unconventional modular library, which is adaptable to a wide range of parameters for customization including non-parallel and non-perpendicular joint axes, and the unified modeling technique for getting the custom modular configurations. The single objective function optimization problem is formulated based upon the discrete parameters of reconfiguration depending upon the available modular library such as, number of joint modules, skew-twist angle, intersecting-twist angle, connection ports of the module, module size, modular sub-assembly unit and curved links. Two case studies, including an application to the agricultural vertical farms, are presented to validate the results.