A solution method for kinematics of reconfigurable modular robots

作者：Wei, Yan Hui^*; Zhao, Jie; Gao, Yan Bin; Cai, He Gao

来源：Journal of Harbin Institute of Technology, 2010, 42(1): 133-137.

• Configuration plane
• Inverse kinematics solutions
• Kinematics models
• Reconfigurable
• Solution methods
• Unified method

Aiming at the problem that there are no unified methods for solving kinematics of reconfigurable modular robots, a way of matching configuration plane is presented. Based on the improved modeling method of D-H, kinematics models of reconfigurable modular robots can be formed automatically. Then, inverse kinematics solutions to the reconfigurable modular robots can be obtained in single tandem form through matching tertiary configurable planes after dividing the configurations of robots at objective points into a few configuration planes. Finally, simulation on robots with 6-DOF and 8-DOF are carried out, and the result validates the reliability and practicality of this method.

• 出版日期2010
• 单位哈尔滨工程大学