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Department of Mechanical and Materials Engineering: Faculty Publications
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On Modular Design Of Field Robotic Systems, Shane Farritor, Steven Dubowsky
On Modular Design Of Field Robotic Systems, Shane Farritor, Steven Dubowsky
Department of Mechanical and Materials Engineering: Faculty Publications
Robots are needed to perform important field tasks such as hazardous material clean-up, nuclear site inspection, and space exploration. Unfortunately their use is not widespread due to their long development times and high costs. To make them practical, a modular design approach is proposed. Prefabricated modules are rapidly assembled to give a low-cost system for a specific task. This paper described the modular design problem for field robots and the application of a hierarchical selection process to solve this problem. Theoretical analysis and an example case study are presented. The theoretical analysis of the modular design problem revealed the large …