Mechatronics Design of a Modular Self-Reconfigurable and Self-Repair Robot

Abstract

Self-reconflgurable and self-repair robot (SRSR) is a novel multi-functional robot which has widely application market. Based the characteristic of SRSR robot, a novel homogeneous and lattice SRSR robot, M-Cubes was designed. The robot has 12 freedoms and composed of six rotation joints and a cubic link. Mechanism of attach and detach have been designed on the rotation joints. A novel space transmit system was placed on the inner of cubic link. A motor transmitted separately torque to six joints which were distributed equality on the six surface of cubic link. The robot is concision and compact in structure, high efficiency in transmission, credibility in connecting, simple in controlling. In order to research distributed control and metamorphic algorithms of self-reconfigurable robot, M-Cubes has provided a good experiment test-bed.