Kinematics Study Of Reconfigurable Robot Based On Conformal Geometric Algebra

According to specific needs, reconfigurable robot is designed, which can be assembled into different configurations by same modules with the same connection interface. Reconfigurable robot has the advantages of high adaptability and flexibility. In order to satisfy the planet and deep-sea exploration, complex work environment and mission needs, it is significant to research on the key and advanced technologies of reconfigurable robot. The works of this paper are introduced as follows:(1) A three-dimensional model of reconfigurable modular robot is established. Combination count method and0-1expression of the module connection relationship are adopted to design robot configuration and analysis the structure. The reconfigurable robot is assembled by I module and T module. The configuration types and assembly structures are obtained by eliminating deteriorating structures and redundant structures.(2) An algorithm for the kinematics analysis of6R serial robot is built. Based on conformal geometric algebra, the mathematical model of the forward and inverse kinematics of6R serial robot is obtained. Then a6*6resultant model is acquired by linear elimination and Dixon resultant. A16th degree univariate equation is obtained and all closed-form solutions are obtained.(3) An inverse kinematics algorithm of reconfigurable robot is presented. Based on the conformal geometric algebra operation between geometric entities, such as sphere, circle, plane and so on, positions of all the joint points are determined. The inverse kinematics of configurable robot is solved by computing the inner product between line and line or plane and plane. The simple and unified forward and inverse kinematics model based on the conformal geometric algebra is intuitive which does not depend on coordinate and matrix operation. The method is suitable for solving the inverse kinematics problem of decoupling serial robots, which are comprised of revolute pairs.