A precision manipulator module for assembly in a minifactory environment
نویسندگان
چکیده
In this paper we describe mechanical and electronic design of a precision, 2-DOF robot manipulator. The manipulator is one of a wide variety of modular robotic agents in the minifactory, a rapidly depoyable precision assembly system under development in our laboratory. The manipulator, in cooperation with another type of 2-DOF robot, termed a courier, can perform 4-DOF assembly operations emulating a scara. This arrangement provides increased precision, higher throughput, smaller footprint, and increased exibility relative to the scara.
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