Paper Title:
Research and Simulation on the Kinematics of a Modular Robot
  Abstract

This paper presents a modular robot called RBT-6T/S01SM. This robot composed of 6 basic modules which could composed 5 kinds of robot. Each module owns one rotational degree of freedom. The total combined robot RBT-6T/S01SM features an easy-to-build mechanical structure. A formulation of this robot is educed based on Denevit and Hartenberg in this paper.The kinematics is studied and inverse kinematics is obtained based on algebraic method. The kinematics simulation of RBT-6T/S01SM is presented based on Matlab. The effectiveness of kinematics equations is verified by the simulation results.

  Info
Periodical
Chapter
Chapter 8: Measurement
Edited by
Paul P. Lin and Chunliang Zhang
Pages
2039-2042
DOI
10.4028/www.scientific.net/AMM.105-107.2039
Citation
Y. J. Cui, "Research and Simulation on the Kinematics of a Modular Robot", Applied Mechanics and Materials, Vols. 105-107, pp. 2039-2042, 2012
Online since
September 2011
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$32.00
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