Dynamical research based on a new type of reconfigurable robot

Yanhui Wei; Dexin Xu; Yanbin Gao; Jie Zhao; Hegao Cai

doi:10.1007/978-3-540-88518-4_113

Dynamical research based on a new type of reconfigurable robot

Yanhui Wei^*
, Dexin Xu
, Yanbin Gao
, Jie Zhao
, Hegao Cai

^*Corresponding author for this work

School of Mechatronics Engineering

Coll. of Automation of HEU
Harbin Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Currently, the reconfigurable robot has become a hot topic for its diverse configurations. In this thesis, a new type of reconfigurable robot system is proposed, whose main modules are cylinders, which makes its structure quite compact and dexterous. Taking this kind of robot as an example, some new methods for robot module modeling and reconfiguration modeling are figured out, according to which a reconfigurable robot of any configuration can set up a dynamical model for itself automatically. By analyzing the velocities, forces and torques of each module, the dynamical functions of the robot are established, using the Newton-Euler method. Finally the six degree of freedom PUMA robot is used to carry out the experimental simulation to test the reliability and applicability of this method proposed in this thesis.

Original language	English
Title of host publication	Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings
Pages	1056-1065
Number of pages	10
Edition	PART 2
DOIs	https://doi.org/10.1007/978-3-540-88518-4_113
State	Published - 2008
Event	1st International Conference on Intelligent Robotics and Applications, ICIRA 2008 - Wuhan, China Duration: 15 Oct 2008 → 17 Oct 2008

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 2
Volume	5315 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	1st International Conference on Intelligent Robotics and Applications, ICIRA 2008
Country/Territory	China
City	Wuhan
Period	15/10/08 → 17/10/08

Keywords

Dynamical
Modular robots
Reconfigurable robots

Access to Document

10.1007/978-3-540-88518-4_113

Cite this

Wei, Y., Xu, D., Gao, Y., Zhao, J., & Cai, H. (2008). Dynamical research based on a new type of reconfigurable robot. In Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings (PART 2 ed., pp. 1056-1065). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5315 LNAI, No. PART 2). https://doi.org/10.1007/978-3-540-88518-4_113

Wei, Yanhui ; Xu, Dexin ; Gao, Yanbin et al. / Dynamical research based on a new type of reconfigurable robot. Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 2. ed. 2008. pp. 1056-1065 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2).

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keywords = "Dynamical, Modular robots, Reconfigurable robots",

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booktitle = "Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings",

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Wei, Y, Xu, D, Gao, Y, Zhao, J & Cai, H 2008, Dynamical research based on a new type of reconfigurable robot. in Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 2 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 2, vol. 5315 LNAI, pp. 1056-1065, 1st International Conference on Intelligent Robotics and Applications, ICIRA 2008, Wuhan, China, 15/10/08. https://doi.org/10.1007/978-3-540-88518-4_113

Dynamical research based on a new type of reconfigurable robot. / Wei, Yanhui; Xu, Dexin; Gao, Yanbin et al.
Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 2. ed. 2008. p. 1056-1065 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 5315 LNAI, No. PART 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - Currently, the reconfigurable robot has become a hot topic for its diverse configurations. In this thesis, a new type of reconfigurable robot system is proposed, whose main modules are cylinders, which makes its structure quite compact and dexterous. Taking this kind of robot as an example, some new methods for robot module modeling and reconfiguration modeling are figured out, according to which a reconfigurable robot of any configuration can set up a dynamical model for itself automatically. By analyzing the velocities, forces and torques of each module, the dynamical functions of the robot are established, using the Newton-Euler method. Finally the six degree of freedom PUMA robot is used to carry out the experimental simulation to test the reliability and applicability of this method proposed in this thesis.

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Wei Y, Xu D, Gao Y, Zhao J, Cai H. Dynamical research based on a new type of reconfigurable robot. In Intelligent Robotics and Applications - First International Conference, ICIRA 2008, Proceedings. PART 2 ed. 2008. p. 1056-1065. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2). doi: 10.1007/978-3-540-88518-4_113

Dynamical research based on a new type of reconfigurable robot

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