On User-Oriented Analysis Simulations Of Reconfigurable Modular Robots

With the extension of robot's application become an increasingly widespread, the task and the environment of the robot can not be forecasted, so a reconfigurable modular robot came into being in this task and the environment. This type of robots is made up of a series of different size modules and the functional modules. In accordance with the requirements of specific tasks, the chosen modules are assembled into the robot. Therefore, the modular design, configuration choice, simulation of kinematics and dynamics of the reconfigurable modular robot are of great theoretical and application value.The function modules design and the modules aggregation of modular reconfigurable robot are basal of the robot's kinematic analysis and dynamics research. The modules are divided into joint modules, link modules, accessorial modules and terminal instrument modules. The collection of the modules is based on these different sizes of functional modules in CAD, which make the assembly and the configuration design of reconfigurable modular robot more convenient.As calculating the kinematics of reconfigurable modular robot, the paper establishes DH matrix to each module with the application of the characteristics of the robot tasks and sub-structure problem, and compiles software program to solve the problem of robot kinematics. The application of computer programming to solve the kinematics could help for the application of user to carry out the evaluation of decision-making for reconfigurable modular robot.In this paper, design and program the interface for the users with the simulation software, you can solve the reconfigurable modular robot dynamics easily. And it can figure out each joint module displacement, each module torque of reconfigurable modular robot in different works. Utilizing associated emulation method of programming software MATLAB and dynamic simulation software ADAMS can solve the dynamic simulation of the reconfigurable modular robot, which could simplify the dynamic calculation and make analysis and research of the robot simple and convenient.