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| Design and Motion Description of a Hybrid Self-Reconfigurable Robot |
| YU Jiang-1, FEI Yan-Qiong-1, YANG Wei-1, LOU Xiao-Chun-2 |
| (1. Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200240, China;2. Hangzhou Vocational & Technical College, Hangzhou 310018, China) |
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Abstract A new hybrid self-reconfigurable modular robot which is composed of several triangular columnar master-slave modular was designed. The basic module consists of a master module and a slave module. There are three main drive motors and corresponding gears in each master module, and two drive motor in each slave module. Based on the structure of the connection ports, the analysis of the connection ports’ motion was given. The description of the basic spatial configuration of the self-reconfigurable modular robot was given based on the geometric characteristics of the basic module. Then the simulation of the self-reconfigurable robot changed from line to hexagon was given. The results show that the construct of the modular robot is compact and effective.
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Received: 11 June 2012
Published: 28 April 2013
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