The Study and Confirmation of Kinematic General Formula for Chain-Type Self-Reconfigurable Robot

Wei Min Ge; Hua Jin Zhang; Xiao Feng Wang; Ying Lin Lei; Teng Zhao; Yue Zhang

doi:10.4028/www.scientific.net/AMM.392.277

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 392The Study and Confirmation of Kinematic General...

The Study and Confirmation of Kinematic General Formula for Chain-Type Self-Reconfigurable Robot

Abstract:

As an intelligent system, self-reconfigurable robot is able to change its configuration depending on different environments and tasks. This work illustrates an approach to the study on the process of deformation from chain-type configurations to circular configurations. In this work, the junction surface of module units and coordinate transform matrix are defined. And the general formulas are deduced based on the D-H method and mathematical induction as well. The motion trail, velocity and acceleration of the end docking face during the deformation are simulated by RecurDyn and MATLAB. The simulation results prove the correctness and validity of the general formula. The approach estimates the kinetic trajectory and reconfigurable space.

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Periodical:

Applied Mechanics and Materials (Volume 392)

Pages:

277-280

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.392.277

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Online since:

September 2013

Authors:

Wei Min Ge, Hua Jin Zhang, Xiao Feng Wang, Ying Lin Lei, Teng Zhao, Yue Zhang

Keywords:

Chain-Type Self-Reconfigurable Robot, Deformation, General Formula, Kinematics

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