Research on configuration and kinematics of joint modular robots

摘要

It the relation of division and reconfiguration of modular robots is studied. The principle to divide the modules is summarized. Five modules are designed and the topological structure are studied. A new method to establish the axis is studied,and based on the screw theory,a geometrics modeling method by means of product of exponentials formula is employed. Then the forward kinematics regardless of configurations is generated. The program of example shows the algorithm is effective.