A Novel Self-Reconfigurable Modular Robot (M<sup>2</sup>SBot): Docking Mechanism Design and its Kinematic Analysis

摘要

This paper presents a novel docking mechanism, based on a new type of mobile modular self-reconfigurable robot named M 2 SBot. The paper introduces the design of structure, the principle of work and the feasibility analysis of this mechanism in detail. At last, the simulation of kinematics based on Adams verifies the feasibility of the docking mechanism. The prototype of the mechanism was manufactured by 3D printer.