Robotic solutions for flexible and modular automatic machines

This study aims at extending flexibility of automatic machinery by implementing design concepts and solutions arising from robotics research. In order to minimize or even eliminate mechanism redesign for variable-motion trajectory tasks, we replace traditional 1-degree-of-freedom (1-dof) servo-actuated linkages with multi-dof robotic platforms (RP). Not being limited to realizing a fixed motion trajectory, RPs are capable of generating arbitrary trajectories within their workspace (WS). Therefore, even a few selected types of RPs with variable WS dimensions and shapes can serve as versatile modules for the modular design of a broad range of automatic machines.