Unified modeling of unconventional modular and reconfigurable manipulation system

Customization of manipulator configurations using modularity and reconfigurability aspects is receiving much attention. Modules presented so far in literature deals with the conventional standard configurations. This paper presents 3D printable, light-weight unconventional modules: MOIRs' Mark-2, to develop any custom `n'-Degrees-of-Freedom (DoF) serial even non-parallel non-perpendicular jointed configuration. These designs modular seek an easy adaptable solution for both assembly software interfaces automatic modeling control. A strategy assembling modules, unified reconfigurable manipulators parameters proposed this 4 units. architecture generation kinematic dynamic models configuration files, through which, a designer can design, validate visualization, plan execute motion developed as required. The framework based upon open source platform called Robot Operating System (ROS), which acts digital twin For experimental demonstration, printed library assembled, modules followed by control, single cell vertical farm setup.