The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We describe the 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 deployable 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 robot. This arrangement provides increased precision, higher throughput, smaller footprint, and increased flexibility relative to the SCARA robot.

Notes

Associated Lab(s) / Group(s): Microdynamic Systems Laboratory

Text Reference

H. Benjamin Brown, Patrick Muir, Alfred Rizzi, M.C. Sensi, and Ralph Hollis, "A precision manipulator module for assembly in a minifactory environment," Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01), 2001, pp. 1030 - 1035.

BibTeX Reference

@inproceedings{Brown_2001_4169,
   author = "H. Benjamin Brown and Patrick Muir and Alfred Rizzi and M.C. Sensi and Ralph Hollis",
   title = "A precision manipulator module for assembly in a minifactory environment",
   booktitle = "Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '01)",
   pages = "1030 - 1035",
   year = "2001",
   volume = "2",
}

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