Evaluation of manipulators under CPPS frame. Issue 1 (July 2017)

• Record Type: Journal Article
• Authors: Moulianitis, V.C.; Zachiotis, G.; Valsamos, C.; Aspragathos, N.A.
• Is Part Of: IFAC-PapersOnLine. Volume 50:Issue 1(2017)
• Page Start: 4342
• Page End: 4347
• Publication Date: 2017-07
• Subjects: Robot evaluation -- metamorphic robots -- reconfigurable robots -- CPPS -- robot anatomy; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2017.08.871
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: In this paper, a method for evaluating robots as parts of a CPPS based on their abilities is presented. The relationship between the CPPS characteristics and robot abilities is determined. The minimum level of robot abilities is determined in order to have a positive influence on CPPS. The proposed mapping is used to evaluate the anatomy of three types of open chain robots: fixed anatomy, reconfigurable and metamorphic robots. Metamorphic robots, a class of modular open chain manipulators, are found to be better than the other two types. However, their superiority comes with increased complexity of the system.