Traditional robots are developed to achieve specific goals or functions. They are mostly tracked, footed, rod-type and other structures. They are suitable for structured scenes such as flat ground, slopes, walls, etc....
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ISBN:
(纸本)9789819607976;9789819607983
Traditional robots are developed to achieve specific goals or functions. They are mostly tracked, footed, rod-type and other structures. They are suitable for structured scenes such as flat ground, slopes, walls, etc. They are obviously restricted by the terrain. At the same time, the functions are relatively simple. After the whole machine is designed and manufactured, the functions cannot be easily expanded. Compared with traditional robots, modular robots have the advantages of diversity, reliability and scalability, and are more suitable for unstructured scenes. This paper summarizes the common chain-type, crystal-type and hybrid modular robots from the perspective of structural morphology. On this basis, this paper proposes a spherical robot unit as the base unit of the modular robot and completes the body construction of the base unit through structural and circuit design. The modified D-H parameter method and Newtoon-Euler method are used to complete the kinematic and dynamic modeling respectively, and the motion simulation of "BaseUnit" is realized in the Simscape Multibody simulation environment, which preliminarily verifies the feasibility of BaseUnit to realize the self-reconfigurable modular robot system.
Lattice-based modular robot systems have been envisioned for large-scale construction in extreme environments, such as space. To optimize system weight and power consumption, heterogeneous approaches combining active ...
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Self-Reconfigurable modular robots typically consist of high number of modules with uniform docking interfaces, allowing them to transform into various shape. Recognizing the shape of such a system composed of hundred...
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Space Internet of Things (IoT) is growing to include complex systems like modular robots and space information networks (SIN) which necessitates efficient information diffusion mechanisms. This study investigates the ...
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On the lunar surface, modular robots that can perform multiple tasks through coupling, decoupling, and reconfiguration are expected to play a significant role due to considerations of cost, work efficiency, and fault ...
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modular robotics offers a promising approach for developing versatile and adaptive robotic systems capable of autonomous reconfiguration. This paper presents a novel modular robotic system in which each module is equi...
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modular robots have the potential to revolutionize automation as one can optimize their composition for any given task. However, finding optimal compositions is non-trivial. In addition, different compositions require...
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Industry uses an enormous variety of robots with different capabilities to perform different tasks. A possible alternative might be to use modular robots. These could be assembled with a combination of joints, links, ...
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Industry uses an enormous variety of robots with different capabilities to perform different tasks. A possible alternative might be to use modular robots. These could be assembled with a combination of joints, links, tools and sensors as required to perform a particular task. This would require a robot control system which could be readily set up to control an arbitrary robot configuration. This paper describes the implementation of a modification of the Newton-Raphson algorithm to produce the inverse kinematics solutions to fulfil this requirement. The system is based on using the parallel processing capabilities of the Inmos transputer. Positioning accuracy experimental results from two robots are presented.
This paper presents the design and implementation of a Miniature SwitchAble (MISA) connection system for stochastic modular robots. The MISA connector consists of attaching, aligning, locking, detaching and holding me...
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This paper presents the design and implementation of a Miniature SwitchAble (MISA) connection system for stochastic modular robots. The MISA connector consists of attaching, aligning, locking, detaching and holding mechanisms. The connection function can be switched on and off by controlling shape memory alloy (SMA) actuators. Furthermore, it possess functions of self-attachment and self-alignment through magnetic interaction under random collision condition. The design details and prototype construction are presented. The preliminary experiments and results demonstrate feasibility and performance of this miniature connector. The potential application is to integrate it into modular microrobots. (C) 2011 Elsevier B.V. All rights reserved.
Aiming at improving the efficiency of reconfiguration of mobile modular robots, the optimal reconfiguration planning and parallel control method are proposed in this work. The number of moving modules, the number of u...
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Aiming at improving the efficiency of reconfiguration of mobile modular robots, the optimal reconfiguration planning and parallel control method are proposed in this work. The number of moving modules, the number of undocking actions, and the total moving distance are considered in reconfiguration optimization with the lexicographic framework. The maximum common subgraph matching and searching tree are proposed to search the Pareto optimal solution. A distributed controller based on local consensus is designed for components that are rigidly connected by different numbers of modules and under different shapes. Parallel motion in the shared workspace brings a high efficiency of reconfiguration. The simulations and real-world experiments verify the effectiveness of our method.
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