Yu, Alchan Moon, Deaho Ha, Tunhyoung Kang, Sungchul Lee, Woosub 2024-01-19T17:04:34Z 2024-01-19T17:04:34Z 2021-09-05 2020-07 2377-3766 https://pubs.kist.re.kr/handle/201004/118464 With the current trend of dwindling life cycle of production, necessity of systems with high-adaptability is on the rise. With their high adaptability and easy maintenance, reconfigurable manipulators are strong candidates to replace conventional non-reconfigurable manipulators in such trend. However, most of existing reconfigurable robots are designed for non-industrial use and remained in laboratory level because of their low accuracy and low mechanical/electrical capacity. In this letter, we present our newly developed manually reconfigurable manipulator, ModMan, equipped with genderless connectors which feature high mechanical/electrical capacity and multi-DOF modules, which are to increase the number of possible configurations while minimizing loss of manipulator performance. An automatic kinematic modeling algorithm for reconfigurable manipulators is also presented to deal with complexities due to genderless connections and multi-DOF modules. Evaluations of repeatability of 6-DOF configuration are performed to prove that the performance of ModMan is comparable to existing non-reconfigurable manipulators. Experiments on reconfiguration of kinematics for arbitrary connections of modules are also demonstrated. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC ModMan: An Advanced Reconfigurable Manipulator System With Genderless Connector and Automatic Kinematic Modeling Algorithm Article 10.1109/LRA.2020.2994486 1 IEEE ROBOTICS AND AUTOMATION LETTERS, v.5, no.3, pp.4225 - 4232 IEEE ROBOTICS AND AUTOMATION LETTERS 5 3 4225 4232 scie scopus 000541735900002 2-s2.0-85085662033 Robotics Robotics Article Manipulators Pins Kinematics Service robots Springs Reconfigurable manipulator modular robot genderless connector kinematic modeling