Simulation Analysis of the Non-isomorphic Configurations for a Novel Link-type Reconfigurable Modular Robot

摘要

Reconfigurable modular robot has various configurations to adapt to the environment and the task.As the module increases,the non-isomorphic configurations increase exponentially.A novel link-type reconfigurable modular robot has been proposed and its module number can be chosen randomly.The relative position of the adjacent modules can be changed through rotation of the offset joints.The link-type structure is manually reconfigurable and can shape shifting autonomously.Configuration matrices have been proposed to represent the topology configurations of the reconfigurable module robot.The robot's configuration can be equivalently displayed in the simulation workspace.According to combination principle,recursive algorithm has been proposed to enumerate and decide the non-isomorphic configurations and non-isomorphic symmetry configurations.Four-module and five-module robots' symmetry configurations have been designed and testified the simulation algorithm's validity.