Modules and Configuration Design of Reconfigurable Modular Robots

摘要

To meet the command of rapid reconfiguration of robot systems, the structure of modules of modular robots was studied. 7 kinds of modules were developed, including 3 as joints with 1 DOF, 2 as links, 1 as base and 1 as connecting module for different series of modules. The design of joint modules takes into account not only kinematic independence but also control independence. The connective parts of all modules were designed in cylindrical form for convenient reconfiguration and increasing rigidity. A modular base can thus be set up by the modules of which each has a series of dimensions. The configurations of 3 DOF series robot system were presented, and the feasibility verification test was done to the experimental modules developed.