20 Part Agents for Exchanging Modules of Manipulators
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Figure 20.9 shows a manipulator model that is designed based on the structure
shown in Fig. 20.8. The base module shown in Fig. 20.10 and the link module shown
in Fig. 20.11 have a built-in DC motor and an angular sensor. The end-effector module
shown in Fig. 20.12 has an electromagnet mounted at its tip. These modules are fully
Fig. 20.9 Model of
modularized manipulator
Fig. 20.10 Base module