The Motion Analysis And Research On The System Of Self-reconfigurable Modular Robot

Because of its superior adaptability, robustness and the ability of self-repairing, thesystem of self-reconfigurable robot attracted the attention of many researchers all over theworld. But the shape of existing unit modular is irregular or unautomous, and thereconfigurable configuration is limited. And most configuration representation methods couldnot express the system automatically. So the relationship between reconfiguration algorithmand movement analysis is dissevered. In this paper, aiming at the problems above, thecorresponding research is made, and the theory will provide the basis of actual application.This paper presents a homogeneous mobile reconfigurable unit module which couldrealize an omni-directional mobile. The expression of unit is made, and the spatialmathematical model is established. Combined graph theory with bounded depth-first searchalgorithm, the spatial topology representation methods is described. It could fully express theconnection information and spatial information of the system with mathematical languageonly, which makes up for the defect of existing topology representation methods can onlydescribe the connection information. On one side, the new theory can let anyone know the3Dconfiguration, on the other side, the difficulty of the configurations’ automatic matching isdeduced. In this way, the space position information could accurately describe with D-Hmethod. The deformation and movement of the chain-like configuration was studied, and theuniversal formula was got and proved. With this universal formula the trajectory modificationand reconfiguration space are judged, the stability of the robotic system is estimated, theinterference problem in parallel deformation/motion would effectively prevent. It provides astrong theoretical basis for researchers to study the motion control, reduces the amount ofcalculation of mathematical modeling, the kinematics equation can be automatically generated.The system dynamics are discussed with examples based on the Newton-Euler equation, andthe feasible method of how to generate the dynamics equation automatically was proposed.Finally, the movement gait and steps obstacles climbing locomotion of some typicalconfigurations are discussed, the condition of the disabled is obtained, and the deformationand movement simulation is given.