Configuration Synthesize And Optimizing Of Reconfigurable Modular Robots

Along with the development of modern science and technology, Robot technology is improving. The use of robots has expanded. People want robots adapt to the working environment more flexible and finish more complex tasks. This kind of character of reconfigurable modular robot is badly needed. Reconfigurable modular robot configuration synthesis and optimization methods are researched in this paper.In this paper, a new method of module partition is adopted. It can be divided into rotating module,traveling module,linkage module and auxiliary module. It uses a matrix of topology which is corresponding to the module to describe the configuration of the robot. A modular based user-oriented method of the conceptual design is proposed and confirmed the feasibility and advantages of the method. It can reduce the size of configuration space effectively and facilitate the optimization of configuration. It gives a new approach to resolve the kinematic chain bombing and identificate the isomorphism body.In this paper, genetic algorithm is used to optimize the result of integrated configuration. First, it analyses the possibility and rationality of the usage of genetic algorithm in this problem. Then, this paper introduces the characteristics of genetic algorithm and how to set up the process of genetic algorithm and related parameters. This paper also prepared program and interface about configuration optimization. It can be used with the needs of the user. Finally,3-DOF reconfigurable modular robots for example are integrated and optimized. Three results of the program are cited. Each result is analysed and evaluated simplely.