高技术通讯（英文版）2009，Vol.15Issue(3)：227-232,6.DOI:10.3772/j.issn.1006-6748.2009.03.001
Design and implementation of a modular self-reconfigurable robot
Design and implementation of a modular self-reconfigurable robot
摘要
Abstract
A novel modular self-reconfigurable robot called UBot is presented. This robot consists of several standard modules. The module is cubic structure based on double rotational DOF, and has four connecting surfaces that can connect to adjacent modules. A hook-type mechanism is designed, which can quickly and reliably connect to or disconnect from adjacent module. This mechanism is self-locking after connected, and energy-saving. To achieve small overall size and mass, compact me chanical structures and electrical systems are adopted in modular design. The modules have embedded power supply and adopt wireless communication, which can avoid cable-winding and improve flexibility of locomotion and self-reconfiguration. A group of UBot modules can adapt their configuration and function to the changing environment without external help by changing their connections and positions . The basic motion and self-reconfiguration are proposed, and the experiments of worm-like locomotion are implemented.关键词
self-reconfigurable robot/ modular/ twin-rotation/ connecting mechanismKey words
self-reconfigurable robot/ modular/ twin-rotation/ connecting mechanism分类
信息技术与安全科学引用本文复制引用
Zhao Jie,Tang Shufeng,Zhu Yanhe..Design and implementation of a modular self-reconfigurable robot[J].高技术通讯（英文版）,2009,15(3):227-232,6.基金项目
Supported by the National High Technology Research and Development Programme of China(2006AA04Z220), the National Natural Science Foundation of China(60705027) and Partially Supported by Program for Changjiang Scholars and Innovative Research Team in University(PCSIRT)(IRT0423). （2006AA04Z220）
