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Discover theModularRobot

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The Modular Robot offers the industrial automation engineer, the researcher or the experimenter a general purpose, high performance, fully configurable system that outperforms fixed-form manipulators at a lower cost. 1-DOF rotary or linear modules are joined together to build

• simple 1, 2 or 3 DOF mechanisms
• familiar SCARA or PUMA manipulators (figure below)
• complex branching arms with many DOF
• multi-legged walkers with articlated tools and sensors
• any useful or interesting configuration

type / size	Rotary Joint	Linear Joint	Elbow Link	Straight Link
5 cm	T = 60 nt-m e = 0.5 arc sec	F = 50 nt D = 25 cm	L = 8 cm O = 3 cm	L = 10 cm
7 cm	T = 125 nt-m e = 0.5 arc sec	F= 100 nt D = 35 cm	L = 11 cm O = 4 cm	L = 14 cm
10 cm	T = 240 nt-m e = 0.5 arc sec	F = 300 nt D = 50 cm	L = 16 cm O = 6 cm	L = 20 cm
14 cm	T = 450 nt-m e = 0.5 arc sec	F = 600 nt D = 70 cm	L = 22 cm O = 8 cm	L = 28 cm
20 cm	T = 750 nt-m e = 0.5 arc sec	F = 2000 nt D = 100 cm	L = 32 cm O = 12 cm	L = 40 cm

Papers

W. Schonlau, "MMS, a Modular Robotic System and Model-Based Control Architecture", SPIE Sensor Fusion and Decentralized Control in Robotic Systems, Boston Massachusettes, September 1999.

W. Schonlau, "A Modular Manipulator System (MMS), Architecture and Implementation",
IEEE Intl Conf on Advanced Robotics, Monterey California, July 1997.

W. Schonlau, "Fuzzy Associative Memory System for Modular Robot Kinematics", to be published.

W. Schonlau, "Model Manager: A Visually Programmed, Model Themed Data-Flow Programming Language for Robot Control", SPIE International Symposium on Intelligent Systems and Advanced Manufacturing, Boston, Massachusettes, Oct 28, 2001.