Concept of dependent joints in functional reconfigurable robots

The purpose of this paper is to discuss an example of modelling with experiments of robot prototype with dependent joint concept, including a full description of related functionalities. Reduction in active degrees of freedom in a machine can lead to improved accuracy, improved reliability and lower cost. The reconfiguration of machines and systems is a key technology for future responsive manufacturing systems. The concept of dependent joints helps to implement much specified sub-workspaces depending on functional needs in the machine.

This is inherently made possible using smart mechanical concepts having embedded sensors and reconfigurable control systems. This paper introduces structural reconfiguration systems and discusses a sample approach to functional reconfiguration.

A successful manipulator design with extended features when considering reduction in active degrees of freedom in a machine would lead to specific sub-workspace with improved accuracy, improved reliability and lower cost.

Reduction in active degrees of freedom in a machine can lead not only towards a dedicated functional workspace but also towards improved accuracy, improved reliability and lower cost.

This paper is of value to engineers and researchers developing robotic manipulators for use in various aspects of industry.