Automatic Modeling and Simulation of Modular Robots

International Conference on Robotics and Mechantronics

机械制造;无线电电子学;计算机科学

Jiang, C.^1 ; Wei, H.^1 ; Zhang, Y.^1

School of Mechanical Engineering and Automation, Beihang University, Beijing

100191, China^1

关键词: Automatic modeling;    Configuration design methods;    Mechanical arm;    Mobile platform;    Modular robot systems;    reconfiguration;    Screw theory;    Six legged robot;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/320/1/012003/pdf
DOI  :  10.1088/1757-899X/320/1/012003

学科分类：计算机科学（综合）

来源: IOP

【 摘 要 】

The ability of reconfiguration makes modular robots have the ability of adaptable, low-cost, self-healing and fault-tolerant. It can also be applied to a variety of mission situations. In this manuscript, a robot platform which relied on the module library was designed, based on the screw theory and module theory. Then, the configuration design method of the modular robot was proposed. And the different configurations of modular robot system have been built, including industrial mechanical arms, the mobile platform, six-legged robot and 3D exoskeleton manipulator. Finally, the simulation and verification of one system among them have been made, using the analyses of screw kinematics and polynomial planning. The results of experiments demonstrate the feasibility and superiority of this modular system.