Docking Design of Self-Reconfigurable Robot

Docking design of self-reconfigurable robots is studied. Firstly, the self-reconfigurable robot is presented. Its basic module is designed, which is composed of a central cube and six rotary arms. Then, the novel docking mechanism of each module is designed. It is critical for the self-reconfigurabl...

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Bibliographic Details
Published inInternational journal of advanced robotic systems Vol. 8; no. 5
Main Author Fei, Yanqiong
Format Journal Article
LanguageEnglish
Published London, England SAGE Publications 01.11.2011
SAGE Publishing
Subjects
Module
Docking
Self-reconfigurable Robot
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Summary:Docking design of self-reconfigurable robots is studied. Firstly, the self-reconfigurable robot is presented. Its basic module is designed, which is composed of a central cube and six rotary arms. Then, the novel docking mechanism of each module is designed. It is critical for the self-reconfigurable robot to discard any faulty modules for the self-repairing actions. The docking process is analyzed with the geometric method. The docking forces between two modules are described with the static equilibrium condition and the small motion's method. It shows that the reliability of the connection will be increased when the module's weight G is increased. It is important to finish the docking action in the self-reconfigurable robot. At last, a simulation of six-module and an experiment of three-module show that the modules can finish the docking process effectively.
ISSN:1729-8806
1729-8814
DOI:10.5772/45709